###AHRS implementation from Project-Matthew code
Project Matthew : https://sites.google.com/site/projetsecinsa/projets-2013-2014/project-matthew
###Starting
For testing purspose we used the makefile in bibrone/tests.
In order to use it, you must modify the path to the g++ compiler :
Ex : CPP=/home/user/CodeSourcery/bin/arm-none-linux-gnueabi-g++
Then use the make command to generate the .elf file
(or make -B if you modify any other files which is not in the tests repository.
Then use ftp 192.168.1.1 to put the file on the drone and telnet 192.168.1.1 to connect to it.
The file you upload are in the data/video repository.
The first time you connect to a drone, don't forget to kill the defautl program :
use ps and kill n°task wich have program.elf as name.
If you modify the ahrs.h file, it must be the same in bibrone/src and
bibrone/include/bibrone.
###How to use the AHRS
Simply use like following example :
ahrs test;
test.Initialize();
test.Start(0.02);
...
test.GetEuler();
or
ahrs test;
test.Initialize();
test.SetQuaternion(false);
test.Set(0.01,2,15);//Nécessaire (coef PI diff)
test.Start();