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Open AHRS Software/Hardware http://code.google.com/p/openahrs
Latest commit e1deb41
Sep 3, 2009
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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).