Complementary-Filter

Complementary-Filter. More...

Files
file	complementary.h
	Complementary-Filter Header.
file	complementary.c
	Complementary-Filter Implementation.

Data Structures
struct	Complementary
	Cmplementary-Filter State data. More...

Functions
void	complementaryExecute (Complementary *data, double acc, double gyro)
	Step the Complementary Filter. More...
void	complementaryInit (Complementary *data)
	Initialize a Complementary-State. More...

Detailed Description

Complementary-Filter.

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Function Documentation

void complementaryExecute	(	Complementary *	data,
		double	acc,
		double	gyro
	)

Step the Complementary Filter.

Parameters

data	Complementary-Filter State
acc	Angle from Accelerometer
gyro	Corresponding Gyroscope data

Definition at line 50 of file complementary.c.

References COMPLEMENTARY_TAU, and getSystemTime().

Referenced by orientationTask().

                                                                        {
    double dt = (getSystemTime() - data->lastExecute) / 1000.0;
    data->angle = (data->angle + (gyro * dt)); // Gyro Integrator
    data->angle *= COMPLEMENTARY_TAU / (COMPLEMENTARY_TAU + dt); // High-Pass
    data->angle += (1 - (COMPLEMENTARY_TAU / (COMPLEMENTARY_TAU + dt))) * acc; // Low-Pass
    data->lastExecute = getSystemTime();
}

void complementaryInit

(

Complementary *

data

)

Initialize a Complementary-State.

Parameters

data	Complementary-State to be initialized

Definition at line 45 of file complementary.c.

References getSystemTime().

Referenced by orientationInit().

                                            {
    data->angle = 0;
    data->lastExecute = getSystemTime();
}