attitude_types.h

#ifndef __ATTITUDE_RESOLUTION_TYPES_H
#define __ATTITUDE_RESOLUTION_TYPES_H
 
#include "uarm_types.hpp"
 
/* =========================================================================
 * AHRS TYPES
 * ====================================================================== */
typedef struct {
    float ax;
    float ay;
    float az;
 
    float wx;
    float wy;
    float wz;
 
    float mx;
    float my;
    float mz;
 
    float roll;
    float pitch;
    float yaw;
 
} AhrsSensor_t;
 
typedef struct {
    float roll;
    float pitch;
    float yaw;
} Attitude_t;
 
/* =========================================================================
 * MADGEWICK TYPES
 * ====================================================================== */
typedef struct {
    const int sampling_rate;
    const float beta;
 
    float q0;
    float q1;
    float q2;
    float q3;
} Madgewick_t;
 
#endif