Added getYPR, getYPRRadians and getQuaternion. Possible usage for variable integration steps.

arduino-libraries / MadgwickAHRS

Arduino implementation of the MadgwickAHRS algorithm

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Added getYPR, getYPRRadians and getQuaternion. Possible usage for variable integration steps. #18

Open afrancescon opened 6 years ago

afrancescon commented 6 years ago

Added convenient method to access yaw, pitch and roll in one call (helps in some to keep code clear).

Added getQuaternion to access internal quaternion where needed.

afrancescon commented 6 years ago

I further added update methods with time (in millis) argument. This can be helpful when integration time is not fixed but can vary due to other MCU activities. I put attention to keep signature back-compatible.

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