ahrs-rs

A Rust port of Sebastian Madgwick's AHRS algorithm.

Documentation

Usage

Add ahrs-rs to your Cargo.toml:

[dependencies]
ahrs = "0.2.0"

Here's a simple example that updates the filter state with arbitrary sensor data:

extern crate nalgebra as na;
extern crate ahrs;

use ahrs::{Ahrs, Madgwick};
use na::{Vector3, Quaternion};
use std::f64;

fn main() {

    // Initialize filter with default values
    let mut ahrs = Madgwick::default();

    // Obtain sensor values from a source
    let gyroscope = Vector3::new(60.1, 30.2, 20.3);
    let accelerometer = Vector3::new(0.1, 0.2, 0.3);
    let magnetometer = Vector3::new(0.5, 0.6, 0.7);
    
    // Run inputs through AHRS filter (gyroscope must be radians/s)
    let quat: &Quaternion<f64> = ahrs.update( &(gyroscope * (f64::consts::PI/180.0)),
                                              &accelerometer,
                                              &magnetometer ).unwrap();
    
    // Do something with the updated state quaternion
    println!("{}", quat);
}

Crate nalgebra is also needed as a dependency for its algebraic types Vector3 and Quaternion.

License

GPLv3