MadgwickARHS Class Reference

#include <sot/core/madgwickahrs.hh>

Detailed Description

This class implements the MadgwickAHRS filter as described in http://x-io.co.uk/res/doc/madgwick_internal_report.pdf This method uses a gradient descent approach to compute the orientation from an IMU.

The signals input are:

• m_accelerometerSIN: \([a_x, a_y, a_z]^T\) in \(m.s^{-2}\)
• m_gyroscopeSIN: \([g_x, g_y, g_z]^T\) in \(rad.s^{-1}\)
• m_imu_quatSOUT: \([q_0, q_1, q_2, q_3]^T\) estimated rotation as a quaternion

The internal parameters are:

• \(Beta\): Gradient step weight (default to 0.01)
• \(m_sampleFref\): Sampling Frequency computed from the control period when using init.

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The documentation for this class was generated from the following file:

• include/sot/core/madgwickahrs.hh