Added libdeps

libdeps/Madgwick/README.adoc

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+= Madgwick Library =
+
+This library wraps the official implementation of MadgwickAHRS algorithm to get orientation of an object based on accelerometer and gyroscope readings
+
+== License ==
+
+Copyright (c) Arduino LLC. All right reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+
+Implementation of Madgwick's IMU and AHRS algorithms.
+See: http://www.x-io.co.uk/node/8#open_source_ahrs_and_imu_algorithms
+
+Date			Author          Notes
+29/09/2011	SOH Madgwick    Initial release
+02/10/2011	SOH Madgwick	Optimised for reduced CPU load
+19/02/2012	SOH Madgwick	Magnetometer measurement is normalised

libdeps/Madgwick/examples/Visualize101/Visualize101.ino

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+#include <CurieIMU.h>
+#include <MadgwickAHRS.h>
+
+Madgwick filter;
+unsigned long microsPerReading, microsPrevious;
+float accelScale, gyroScale;
+
+void setup() {
+  Serial.begin(9600);
+
+  // start the IMU and filter
+  CurieIMU.begin();
+  CurieIMU.setGyroRate(25);
+  CurieIMU.setAccelerometerRate(25);
+  filter.begin(25);
+
+  // Set the accelerometer range to 2G
+  CurieIMU.setAccelerometerRange(2);
+  // Set the gyroscope range to 250 degrees/second
+  CurieIMU.setGyroRange(250);
+
+  // initialize variables to pace updates to correct rate
+  microsPerReading = 1000000 / 25;
+  microsPrevious = micros();
+}
+
+void loop() {
+  int aix, aiy, aiz;
+  int gix, giy, giz;
+  float ax, ay, az;
+  float gx, gy, gz;
+  float roll, pitch, heading;
+  unsigned long microsNow;
+
+  // check if it's time to read data and update the filter
+  microsNow = micros();
+  if (microsNow - microsPrevious >= microsPerReading) {
+
+    // read raw data from CurieIMU
+    CurieIMU.readMotionSensor(aix, aiy, aiz, gix, giy, giz);
+
+    // convert from raw data to gravity and degrees/second units
+    ax = convertRawAcceleration(aix);
+    ay = convertRawAcceleration(aiy);
+    az = convertRawAcceleration(aiz);
+    gx = convertRawGyro(gix);
+    gy = convertRawGyro(giy);
+    gz = convertRawGyro(giz);
+
+    // update the filter, which computes orientation
+    filter.updateIMU(gx, gy, gz, ax, ay, az);
+
+    // print the heading, pitch and roll
+    roll = filter.getRoll();
+    pitch = filter.getPitch();
+    heading = filter.getYaw();
+    Serial.print("Orientation: ");
+    Serial.print(heading);
+    Serial.print(" ");
+    Serial.print(pitch);
+    Serial.print(" ");
+    Serial.println(roll);
+
+    // increment previous time, so we keep proper pace
+    microsPrevious = microsPrevious + microsPerReading;
+  }
+}
+
+float convertRawAcceleration(int aRaw) {
+  // since we are using 2G range
+  // -2g maps to a raw value of -32768
+  // +2g maps to a raw value of 32767
+
+  float a = (aRaw * 2.0) / 32768.0;
+  return a;
+}
+
+float convertRawGyro(int gRaw) {
+  // since we are using 250 degrees/seconds range
+  // -250 maps to a raw value of -32768
+  // +250 maps to a raw value of 32767
+
+  float g = (gRaw * 250.0) / 32768.0;
+  return g;
+}

libdeps/Madgwick/keywords.txt

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+#######################################
+# Syntax Coloring Map For MadgwickAHRS
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Madgwick	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+update	KEYWORD2
+updateIMU	KEYWORD2
+getPitch	KEYWORD2
+getYaw	KEYWORD2
+getRoll	KEYWORD2
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+

libdeps/Madgwick/library.properties

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+name=Madgwick
+version=1.2.0
+author=Arduino
+maintainer=Arduino <[email protected]>
+sentence=Helpers for MadgwickAHRS algorithm
+paragraph=This library wraps the official implementation of MadgwickAHRS algorithm to get orientation of an object based on accelerometer and gyroscope readings
+category=Data Processing
+url=https://github.com/arduino-libraries/MadgwickAHRS
+architectures=*