mahony.h

Go to the documentation of this file.

/*
 * Copyright (c) 2021 Marti Riba Pons
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_ZSL_FUSION_MAHONY_H_
#define ZEPHYR_INCLUDE_ZSL_FUSION_MAHONY_H_
 
#include <zsl/zsl.h>
#include <zsl/vectors.h>
#include <zsl/matrices.h>
#include <zsl/orientation/quaternions.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* Source: https://ahrs.readthedocs.io/en/latest/filters/mahony.html */
 
struct zsl_fus_mahn_cfg {
    zsl_real_t kp;
 
    zsl_real_t ki;
 
    zsl_real_t integral_limit;
    
    struct zsl_vec intfb;
};
 
int zsl_fus_mahn_init(uint32_t freq, void *cfg);
 
int zsl_fus_mahn_feed(struct zsl_vec *a, struct zsl_vec *m,
              struct zsl_vec *g, zsl_real_t *incl, struct zsl_quat *q,
              void *cfg);
 
void zsl_fus_mahn_error(int error);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZSL_FUSION_MAHONY_H_ */
 /* End of algorithms group */