Big modifications, but most importantly added NED and ENU frame supports. #40
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Added NED, ENU local reference frame supports. Added supports of passing different gyroscope reading's unit (rad or deg) based on user preference into Madgwick::update() and Madgwick::updateIMU(). Added non-constant IMU's update frequency support by allowing users to use elapsed time, while constant frequency still supports. All the above changes are achieved using template and functions overloading. Added Madgwick::updateCore() and Madgwick::updateCoreIMU() to avoid some code duplications for constant and non-constant frequency supports in Madgwick::update() and Madgwick::updateIMU() respectively. Added a getter function to obtain quaternion, and setter functions for filter parameter (beta) and IMU's frequency separately. Added constructors overloading to initialize filter parameter (beta) and IMU's frequency. Added inline wrapper functions for degree to radians and vice-versa conversion for readability purpose. Rearranged some previous codes for readability purpose. Added comments.
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Using PI constant from Arduino.h instead.
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Memory usage change @ 0f1a839
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Memory usage change @ cddf138
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Memory usage change @ 1ebe2f0
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per1234
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type: enhancement
digisomni
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to neocadia/MadgwickAHRS
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Aug 8, 2024
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Added NED, ENU local reference frame supports.$b_x$ $b_z$ ]. These modifications lead to different matrices in Eqs. 25 and 26 for NED frame, while in Eqs. 29 and 30 for ENU frame.
The original code was designed for NWU local reference frame, as observed from Eqs. 23 and 27 in his paper. So, for NED frame, Eq. 23 is changed to be equaled to [0 0 0 -1], while for ENU frame, Eq. 27 is changed to be equaled to [0 0
Added supports of passing different gyroscope reading's unit (rad or deg) based on user preference into Madgwick::update() and Madgwick::updateIMU().
Added non-constant IMU's update frequency support by allowing users to use elapsed time, while constant frequency still supports.
NOTE: Changes 1 to 3 are achieved using template and functions overloading, but requires C++ 17 supports.
For lower than C++ 17, "if ... " is used instead of "if constexpr ... ", which hinders those branches to be evaluated during compile-time. Hence, this might impact the performance.
Added Madgwick::updateCore() and Madgwick::updateCoreIMU() to avoid some code duplications (maintainability purpose) for constant and non-constant frequency supports in Madgwick::update() and Madgwick::updateIMU() respectively.
Added a getter function to obtain quaternion.
Obtaining the quaternion is an essential feature of this filter, that avoids numerical instability in determining roll and yaw angles when pitch angle reaches +/-90 degree.
Added setter functions for filter parameter (beta) and IMU's frequency separately.
Added constructors overloading to initialize filter parameter (beta) and IMU's frequency.
Added inline wrapper functions for degree to radians and vice-versa conversion (readability purpose).
Rearranged some previous codes (readability purpose).
Added comments.