From f204b366c8a270365ddf879dc07f7034a475b1af Mon Sep 17 00:00:00 2001
From: ProExpertProg <ProExpertProg@users.noreply.github.com>
Date: Sat, 22 Dec 2018 21:38:08 -0500
Subject: [PATCH] Update MadgwickAHRS.h

Added a function that returns the quaternion
---
 src/MadgwickAHRS.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/MadgwickAHRS.h b/src/MadgwickAHRS.h
index 7689523..cad59f5 100644
--- a/src/MadgwickAHRS.h
+++ b/src/MadgwickAHRS.h
@@ -45,6 +45,9 @@ class Madgwick{
     //float getPitch(){return atan2f(2.0f * q2 * q3 - 2.0f * q0 * q1, 2.0f * q0 * q0 + 2.0f * q3 * q3 - 1.0f);};
     //float getRoll(){return -1.0f * asinf(2.0f * q1 * q3 + 2.0f * q0 * q2);};
     //float getYaw(){return atan2f(2.0f * q1 * q2 - 2.0f * q0 * q3, 2.0f * q0 * q0 + 2.0f * q1 * q1 - 1.0f);};
+    float* getQuaternion() {
+        return {q0,q1,q2,q3};
+    }
     float getRoll() {
         if (!anglesComputed) computeAngles();
         return roll * 57.29578f;