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diff --git a/IMU.cpp b/IMU.cpp
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-//=====================================================================================================
-// IMU.c
-// S.O.H. Madgwick
-// 25th September 2010
-//=====================================================================================================
-// Description:
-//
-// Quaternion implementation of the 'DCM filter' [Mayhony et al].
-//
-// User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'.
-//
-// Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated
-// orientation.  See my report for an overview of the use of quaternions in this application.
-//
-// User must call 'IMUupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz')
-// and accelerometer ('ax', 'ay', 'ay') data.  Gyroscope units are radians/second, accelerometer 
-// units are irrelevant as the vector is normalised.
-//
-//=====================================================================================================
-
-//----------------------------------------------------------------------------------------------------
-// Header files
-
-#include "IMU.h"
-#include <math.h>
-#include <ch.h>
-
-//----------------------------------------------------------------------------------------------------
-// Definitions
-
-#define Kp 2.0f			// proportional gain governs rate of convergence to accelerometer/magnetometer
-#define Ki 0.005f		// integral gain governs rate of convergence of gyroscope biases
-#define halfT (0.5f / 100)		// half the sample period
-
-//---------------------------------------------------------------------------------------------------
-// Variable definitions
-
-float q0 = 1, q1 = 0, q2 = 0, q3 = 0;	// quaternion elements representing the estimated orientation
-float exInt = 0, eyInt = 0, ezInt = 0;	// scaled integral error
-
-//====================================================================================================
-// Function
-//====================================================================================================
-
-void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az) {
-	float norm;
-	float vx, vy, vz;
-	float ex, ey, ez;         
-	
-	// normalise the measurements
-	norm = sqrt(ax*ax + ay*ay + az*az);       
-	ax = ax / norm;
-	ay = ay / norm;
-	az = az / norm;
-	
-	// estimated direction of gravity
-	vx = 2*(q1*q3 - q0*q2);
-	vy = 2*(q0*q1 + q2*q3);
-	vz = q0*q0 - q1*q1 - q2*q2 + q3*q3;
-	
-	// error is sum of cross product between reference direction of field and direction measured by sensor
-	ex = (ay*vz - az*vy);
-	ey = (az*vx - ax*vz);
-	ez = (ax*vy - ay*vx);
-	
-	// integral error scaled integral gain
-	exInt = exInt + ex*Ki;
-	eyInt = eyInt + ey*Ki;
-	ezInt = ezInt + ez*Ki;
-	
-	// adjusted gyroscope measurements
-	gx = gx + Kp*ex + exInt;
-	gy = gy + Kp*ey + eyInt;
-	gz = gz + Kp*ez + ezInt;
-	
-	// integrate quaternion rate and normalise
-	q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
-	q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
-	q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
-	q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;  
-	
-	// normalise quaternion
-	norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
-	q0 = q0 / norm;
-	q1 = q1 / norm;
-	q2 = q2 / norm;
-	q3 = q3 / norm;
-}
-
-//====================================================================================================
-// END OF CODE
-//====================================================================================================