openahrs

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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)

2. 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).