Attitude and heading reference system.
Two implementations of the AHRS algorithms are provided, one in floating point form and one in fixed point form. The API for both is identical, you simply choose whether to use floating or fixed at initialization time.
Typically, the fixed AHRS is fast on both Cortex-M3 and Cortex-M4 processors. For processors that have hardware floating point, there is little to no gain in choosing the fixed point implementation.
| Types | |
| AHRS_STATE_t | AHRS state |
| Setup | |
| ahrs_fixed_init | Initialize floating-point AHRS |
| ahrs_float_init | Initialize floating-point AHRS |
| Parameters | |
| ahrs_get_feedback | Get the long-term feedback factor |
| ahrs_set_feedback | Set the long-term feedback factor |
| Operation | |
| ahrs_get_orientation | Recover AHRS orientation estimation |
| ahrs_update | Update AHRS with new sensor measurement |