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Updated quaternion class, added attitude from tilt, started madgwick filter

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dario
2024-06-21 23:08:23 +02:00
parent 059b356ec7
commit 97825c8afb
9 changed files with 209 additions and 70 deletions
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9
include/sta/math/quaternion.hpp
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@@ -26,11 +26,18 @@ namespace sta
Quaternion normalized();
Quaternion operator*(const Quaternion& quat);
Quaternion operator+(const Quaternion& quat);
Quaternion operator*(float scalar);
public:
float x, y, z, w;
};
Quaternion operator+(const Quaternion& q1, const Quaternion& q2);
Quaternion operator*(const Quaternion& q1, const Quaternion& q2);
Quaternion operator*(const Quaternion& quat, float scalar);
Quaternion operator*(float scalar, const Quaternion& quat);
Quaternion operator*(const Quaternion& quat, double scalar);
Quaternion operator*(double scalar, const Quaternion& quat);
} // namespace math
} // namespace sta