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openahrs

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Commits

List of commits on branch master.
Unverified
e1deb416d77d9c3cb12a0c027c23bc80172cf455

Merge branch 'master' of git@github.com:cbecker/openahrs

committed 15 years ago
Unverified
b6e72552c3608e09e3a5219d7a6977081ee87bb6

Several changes- new hardware;new calibration routines

committed 15 years ago
Unverified
e19b1da4c1347dc1575e855d374b053a3c39af9f

Several changes- new hardware;new calibration routines

committed 15 years ago
Unverified
68f194b30c227cfd639f16614ccb8d6e27d4d6b9

Added .gitignore

ccbecker committed 16 years ago
Unverified
6e594f210c4aef7c79686219d131bf18fa64ad09

Kalman7 was moved into a separate class for organization

ccbecker committed 16 years ago
Unverified
ea97ca0426f5e6bd804a6c28fa4ef2953474343b

AVR32 HW schematics added

ccbecker committed 16 years ago

README

The README file for this repository.

openAHRS - open source AHRS

Code is licensed under the GPL v2 license, see the file COPYING for information Copyright (c) Carlos Becker http://code.google.com/p/openahrs http://github.com/cbecker/openahrs

  1. Requirements

openAHRS uses the Eigen2 library, under the GPL license too. You can download Eigen2 from http://eigen.tuxfamily.org

You need to modify the EIGENPATH variable inside Makefile.paths before trying to compile anything.

Use the GCC_PREFIX macro in Makefile to specify which compiler to use.

To use the util/plotter utility you need the qwt library (http://qwt.sf.net)

  1. Code organization

Directories:

- openAHRS:
	The folder openAHRS contains main source code, built as a library to openAHRS.a

To make the library just type 'make' in this same directory. !!BEWARE!!: read the above section since the Eigen2 path needs to be configured first.

- tests:
	Contains several tests. The Kalman ones simulate noisy input signals and write

the results to an octave-compatible file. If octave is available on the host machine the data can be plotted by executing the script plot_data.m from octave. To build the examples just go to the right example directory and type 'make'. You can also build the examples by issuing 'make test-xxxx' on the root directory, where 'xxxx' depends on the sample to be built (type 'make help' for a description).

- AHRSs:
	AHRS implementations. Currently there is only an AVR32 port.
	Make sure the GCC_PREFIX macro in the main Makefile is correctly set.

- util/plotter
	 Utility to plot values received through UDP from AHRS. Uses the qwt library. Also draws an opengl scene with current position (might be CPU-intensive on some cases).