mahony.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef MAHONY_H
#define MAHONY_H
 
#ifdef __cplusplus
extern "C"
{
#endif
 
/* Standard Includes ---------------------------------------------------------*/
#include <stdbool.h>
 
/* Project Includes ----------------------------------------------------------*/
#include "math_sdr.h"
 
/* Typedefs ------------------------------------------------------------------*/

typedef enum
    {
    MAHONY_OK = 0,
    MAHONY_NULL_POINTER,        
    MAHONY_INVALID_QUATERNION,
    MAHONY_NONFINITE_GAIN,
    MAHONY_NEGATIVE_GAIN,
    MAHONY_INVALID_GYRO,
    MAHONY_INVALID_DELTA_TIME
    } MAHONY_STATUS;

typedef struct _MAHONY_FILTER
    {
    QUAT attitude;

    VECTOR_3F integral_error;
 
    float proportional_gain;
    float integral_gain;
 
    } MAHONY_FILTER;
 
/* Function Prototypes -------------------------------------------------------*/
 
MAHONY_STATUS mahony_init
    (
    MAHONY_FILTER *filter,
    QUAT initial_attitude,
    float proportional_gain,
    float integral_gain
    );
 
 
MAHONY_STATUS mahony_update_gyro
    (
    MAHONY_FILTER *filter,
    VECTOR_3F gyro_body_rad_s,
    float delta_time_s
    );
 
MAHONY_STATUS mahony_update_imu
    (
    MAHONY_FILTER *filter,
    VECTOR_3F gyro_body_rad_s,
    VECTOR_3F accel_body,
    float delta_time_s,
    bool use_accel
    );
 
#ifdef __cplusplus
}
#endif
 
#endif /* MAHONY_H */
 
/*******************************************************************************
 * END OF FILE
 ******************************************************************************/