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Getter & setter for algorithm parameters (#23)

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* Getter & setter for algorithm parameters

Getter and setter for Madgwick (beta) and Mahony (Kp & Ki).

* clang-format
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Frédéric Bourgeois 2021-07-17 19:38:34 +02:00 committed by GitHub
parent 1425f14fbd
commit f7534cf5f9
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2 changed files with 6 additions and 0 deletions
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2
src/Adafruit_AHRS_Madgwick.h
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@ -49,6 +49,8 @@ public:
// q0 + 2.0f * q3 * q3 - 1.0f);}; float getRoll(){return -1.0f * asinf(2.0f * // q0 + 2.0f * q3 * q3 - 1.0f);}; float getRoll(){return -1.0f * asinf(2.0f *
// q1 * q3 + 2.0f * q0 * q2);}; float getYaw(){return atan2f(2.0f * q1 * q2 // q1 * q3 + 2.0f * q0 * q2);}; float getYaw(){return atan2f(2.0f * q1 * q2
// - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);}; // - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);};
float getBeta() { return beta; }
void setBeta(float beta) { this->beta = beta; }
float getRoll() { float getRoll() {
if (!anglesComputed) if (!anglesComputed)
computeAngles(); computeAngles();

4
src/Adafruit_AHRS_Mahony.h
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@ -42,6 +42,10 @@ public:
void update(float gx, float gy, float gz, float ax, float ay, float az, void update(float gx, float gy, float gz, float ax, float ay, float az,
float mx, float my, float mz); float mx, float my, float mz);
void updateIMU(float gx, float gy, float gz, float ax, float ay, float az); void updateIMU(float gx, float gy, float gz, float ax, float ay, float az);
float getKp() { return twoKp / 2.0f; }
void setKp(float Kp) { twoKp = 2.0f * Kp; }
float getKi() { return twoKi / 2.0f; }
void setKi(float Ki) { twoKi = 2.0f * Ki; }
float getRoll() { float getRoll() {
if (!anglesComputed) if (!anglesComputed)
computeAngles(); computeAngles();