Merge pull request #6 from SimLeek/get_quat

Added ability to get an array of the 4 quaternion values.

Author: aster94

keywords.txt

@@ -15,6 +15,7 @@ getRoll	KEYWORD2
 getRollRadians	KEYWORD2
 getPitchRadians	KEYWORD2
 getYawRadians	KEYWORD2
+getQuat	KEYWORD2
 
 #######################################
 # Constants (LITERAL1)

library.properties

@@ -1,5 +1,5 @@
 name=SensorFusion
-version=1.0.2
+version=1.0.3
 author=aster94
 maintainer=aster94
 sentence=A library that makes using a IMU a breeze.

src/SensorFusion.h

@@ -70,6 +70,10 @@ class SF {
 		if (!anglesComputed) computeAngles();
 		return yaw;
 	}
+	float* getQuat() {
+		memcpy(_copyQuat, &q0, sizeof(float)*4);
+		return _copyQuat;
+	}
 
 private:
 	float beta;				//Madgwick: 2 * proportional gain
@@ -82,6 +86,7 @@ class SF {
 	void computeAngles();
 	float roll, pitch, yaw;
 	float Now,lastUpdate,deltat;
+	float _copyQuat[4];	// copy buffer to protect the quaternion values since getters!=setters
 
 };