1.0.1

Author: aster94

README.md

@@ -1,16 +1,18 @@
 # SensorFusion
 Using IMUs is one of the most struggling part of every Arduino lovers, here there is a simple solution.
 
-![heading](https://image.ibb.co/cNL6n9/2.png)
+![Alt text](/extras/axis.png?raw=true "axis")
 
 This library will work with every IMU, it just need the raw data of gyroscope and accelerometer (the magnetometer isn't mandatory), it is based on these two libraries:
 - https://github.com/PaulStoffregen/MahonyAHRS 
 - https://github.com/PaulStoffregen/MadgwickAHRS 
 
 I just made small modifications in the way the libraries handled the timing between two measurements and melted them together
 
-## Installation
-Use the arduino library manager or download directly from github
+
+# Installation
+Use the arduino/platformIO library manager or download directly from github
+
 
 # About
 
@@ -23,9 +25,7 @@ please note that the Roll is inverted
 
 I am using an STM32F103F103 known as blue pill but also any Arduino board will work
 
-The IMU is a cheap mpu9250, you could find it everywhere for about 2€ (eBay, Aliexpress, ecc), to use it I strongly suggest you [this library](https://github.com/bolderflight/MPU9250)
-
-
+The IMU is a cheap MPU9250, you could find it everywhere for about 2€ (eBay, Aliexpress, ecc), to use it I strongly suggest you [this library](https://github.com/bolderflight/MPU9250)
 
-If you wish use "IMU_tester" to see how well you IMU works (needs Processing)
-Note: i am using also this very useful library: Streaming
+If you wish use `IMU_tester` in the extras folder to see how you IMU works (needs Processing)
+Note: I am using also this very useful library: [Streaming](https://github.com/geneReeves/ArduinoStreaming)

examples/MPU9250_SPI_SF/MPU9250_SPI_SF.ino

@@ -1,20 +1,20 @@
-//the Serial needs this library https://github.com/geneReeves/ArduinoStreaming
-
-#include "MPU9250.h"
+#include "MPU9250.h"		// https://github.com/bolderflight/MPU9250 	
+#include "Streaming.h" 		// needed for the Serial output https://github.com/geneReeves/ArduinoStreaming
 #include "SensorFusion.h"
-#include "Streaming.h"
+SF fusion;
+
 float gx, gy, gz, ax, ay, az, mx, my, mz, temp;
 float pitch, roll, yaw;
 float deltat;
-SF filter;
+
 #define SS_PIN PB12
 SPIClass mySPI (2);
 MPU9250 IMU(mySPI, SS_PIN);
 int status;
 
-//#define EULER_DATA
+#define EULER_DATA
 //#define RAW_DATA
-#define PROCESSING
+//#define PROCESSING
 
 
 void setup() {
@@ -56,22 +56,22 @@ void loop() {
   Serial << "TEMP:\t" << temp << newl << newl;
 #endif
 
-  deltat = filter.deltatUpdate();
-  //filter.MahonyUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //mahony is suggested if there isn't the mag
-  filter.MadgwickUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //else use the magwick
+  deltat = fusion.deltatUpdate();
+  //fusion.MahonyUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //mahony is suggested if there isn't the mag
+  fusion.MadgwickUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //else use the magwick
 
-  roll = filter.getRoll();
-  pitch = filter.getPitch();
-  yaw = filter.getYaw();
+  roll = fusion.getRoll();
+  pitch = fusion.getPitch();
+  yaw = fusion.getYaw();
 
 #ifdef EULER_DATA
   Serial << "Pitch:\t" << pitch << "\t\tRoll:\t" << roll << "\t\tYaw:\t" << yaw << newl << newl;
 #endif
 
 #ifdef PROCESSING
-  roll = filter.getRollRadians();
-  pitch = filter.getPitchRadians();
-  yaw = filter.getYawRadians();
+  roll = fusion.getRollRadians();
+  pitch = fusion.getPitchRadians();
+  yaw = fusion.getYawRadians();
   Serial  << pitch << ":" << roll << ":" << yaw << newl;
 #endif
 

examples/SensorFusion/SensorFusion.ino

@@ -1,10 +1,10 @@
 // IMPORTANT
-// this is not a working example, this is just to show how to set the filter
-// if you need a working example please see: https://www.hackster.io/vincenzo-g/sensor-fusion-algorithms-made-simple-6c55f6
+// this is not a working example, this is just to show how to set the library
+// if you need a working example please see the other example
 
 
 #include "SensorFusion.h" //SF
-SF filter;
+SF fusion;
 
 float gx, gy, gz, ax, ay, az, mx, my, mz;
 float pitch, roll, yaw;
@@ -23,14 +23,14 @@ void loop() {
   // NOTE: the gyroscope data have to be in radians
   // if you have them in degree convert them with: DEG_TO_RAD example: gx * DEG_TO_RAD
 
-  deltat = filter.deltatUpdate(); //this have to be done before calling the filter update
+  deltat = fusion.deltatUpdate(); //this have to be done before calling the fusion update
   //choose only one of these two:
-  filter.MahonyUpdate(gx, gy, gz, ax, ay, az, deltat);  //mahony is suggested if there isn't the mag and the mcu is slow
-  //filter.MadgwickUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //else use the magwick, it is slower but more accurate
+  fusion.MahonyUpdate(gx, gy, gz, ax, ay, az, deltat);  //mahony is suggested if there isn't the mag and the mcu is slow
+  //fusion.MadgwickUpdate(gx, gy, gz, ax, ay, az, mx, my, mz, deltat);  //else use the magwick, it is slower but more accurate
 
-  pitch = filter.getPitch();
-  roll = filter.getRoll();    //you could also use getRollRadians() ecc
-  yaw = filter.getYaw();
+  pitch = fusion.getPitch();
+  roll = fusion.getRoll();    //you could also use getRollRadians() ecc
+  yaw = fusion.getYaw();
 
   Serial.print("Pitch:\t"); Serial.println(pitch);
   Serial.print("Roll:\t"); Serial.println(roll);

examples/IMU_tester/IMU_tester.pde renamed to extras/IMU_tester/IMU_tester.pde

@@ -1,44 +1,44 @@
-/*
-This code is made for processing https://processing.org/
-*/
-
-import processing.serial.*;     // import the Processing serial library
-Serial myPort;                  // The serial port
-String my_port = "COM11";      //choose your port
-float xx, yy, zz;
-
-void setup() {
-  size(1024, 800, P3D);
-
-  myPort = new Serial(this, my_port, 115200);
-  myPort.bufferUntil('\n');
-
-  smooth();
-}
-
-void draw() {
-  background(0);
-  noStroke();
-  translate(width/2, height/2);
-  pushMatrix();
-  rotateX(xx);//pitch
-  rotateY(zz);//yaw
-  rotateZ(yy);//roll
-  box(100, 50, 600);
-  popMatrix();
-}
-
-
-void serialEvent(Serial myPort) {
-
-  String myString = myPort.readStringUntil('\n');
-  myString = trim(myString);
-  float sensors[] = float(split(myString, ':'));
-  
-  xx = sensors[0];
-  yy = sensors[1];
-  zz = sensors[2];
-  
-  //println("roll: " + xx + " pitch: " + yy + " yaw: " + zz + "\n"); //debug
-
+/*
+This code is made for processing https://processing.org/
+*/
+
+import processing.serial.*;     // import the Processing serial library
+Serial myPort;                  // The serial port
+String my_port = "COM11";      	// choose your port
+float xx, yy, zz;
+
+void setup() {
+  size(1024, 800, P3D);
+
+  myPort = new Serial(this, my_port, 115200);
+  myPort.bufferUntil('\n');
+
+  smooth();
+}
+
+void draw() {
+  background(0);
+  noStroke();
+  translate(width/2, height/2);
+  pushMatrix();
+  rotateX(xx);//pitch
+  rotateY(zz);//yaw
+  rotateZ(yy);//roll
+  box(100, 50, 600);
+  popMatrix();
+}
+
+
+void serialEvent(Serial myPort) {
+
+  String myString = myPort.readStringUntil('\n');
+  myString = trim(myString);
+  float sensors[] = float(split(myString, ':'));
+  
+  xx = sensors[0];
+  yy = sensors[1];
+  zz = sensors[2];
+  
+  //println("roll: " + xx + " pitch: " + yy + " yaw: " + zz + "\n"); //debug
+
 }

extras/axis.png

@@ -3,21 +3,19 @@
 #######################################
 SF	KEYWORD1
 
-
 #######################################
 # Methods and Functions (KEYWORD2)
 #######################################
 MadgwickUpdate	KEYWORD2
 MahonyUpdate	KEYWORD2
 deltatUpdate	KEYWORD2
-getPitch		KEYWORD2
-getYaw			KEYWORD2
-getRoll			KEYWORD2
+getPitch	KEYWORD2
+getYaw		KEYWORD2
+getRoll		KEYWORD2
 getRollRadians	KEYWORD2
 getPitchRadians	KEYWORD2
 getYawRadians	KEYWORD2
 
-
 #######################################
 # Constants (LITERAL1)
 #######################################