fusion-nav 0.1.0

A no_std, allocation-free 15-state error-state Kalman filter for inertial navigation. Fuses IMU with GNSS position, velocity, dual-antenna heading and course, barometric altitude, and magnetometer heading. For attitude or altitude only, see fusion-ahrs and fusion-altitude.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123

# THIS FILE IS AUTOMATICALLY GENERATED BY CARGO
#
# When uploading crates to the registry Cargo will automatically
# "normalize" Cargo.toml files for maximal compatibility
# with all versions of Cargo and also rewrite `path` dependencies
# to registry (e.g., crates.io) dependencies.
#
# If you are reading this file be aware that the original Cargo.toml
# will likely look very different (and much more reasonable).
# See Cargo.toml.orig for the original contents.

[package]
edition = "2024"
rust-version = "1.89"
name = "fusion-nav"
version = "0.1.0"
authors = ["Wil Boayue <wil@wsblabs.com>"]
build = false
include = [
    "/src/**",
    "/examples/**",
    "/data/flight.csv",
    "/data/flight.config.rs",
    "/README.md",
    "/GUIDE.md",
    "/MIGRATING.md",
    "/CHANGELOG.md",
    "/LICENSE",
]
autolib = false
autobins = false
autoexamples = false
autotests = false
autobenches = false
description = "A no_std, allocation-free 15-state error-state Kalman filter for inertial navigation. Fuses IMU with GNSS position, velocity, dual-antenna heading and course, barometric altitude, and magnetometer heading. For attitude or altitude only, see fusion-ahrs and fusion-altitude."
documentation = "https://docs.rs/fusion-nav"
readme = "README.md"
keywords = [
    "eskf",
    "kalman",
    "sensor-fusion",
    "gnss",
    "embedded",
]
categories = [
    "embedded",
    "no-std",
    "algorithms",
    "aerospace::unmanned-aerial-vehicles",
]
license = "MIT"
repository = "https://github.com/wboayue/fusion-nav/"

[package.metadata.docs.rs]
features = ["defmt"]
targets = [
    "thumbv7em-none-eabihf",
    "x86_64-unknown-linux-gnu",
]
rustdoc-args = [
    "--cfg",
    "docsrs",
]

[features]
default = ["magnetic-model"]
defmt = ["dep:defmt"]
magnetic-model = []

[lib]
name = "fusion_nav"
path = "src/lib.rs"

[[example]]
name = "basic"
path = "examples/basic.rs"

[[example]]
name = "degradation"
path = "examples/degradation.rs"

[[example]]
name = "embedded"
path = "examples/embedded.rs"

[[example]]
name = "replay"
path = "examples/replay/main.rs"
required-features = ["magnetic-model"]

[[example]]
name = "simulate"
path = "examples/simulate.rs"

[dependencies.defmt]
version = "1"
optional = true

[dependencies.nalgebra]
version = "0.35"
features = ["libm"]
default-features = false

[dev-dependencies.libm]
version = "0.2.16"

[target."cfg(fusion_nav_onboard)".dev-dependencies]

[target.'cfg(not(target_os = "none"))'.dev-dependencies.proptest]
version = "1.11.0"
features = [
    "alloc",
    "no_std",
]
default-features = false

[lints.rust.unexpected_cfgs]
level = "warn"
priority = 0
check-cfg = [
    "cfg(fusion_nav_onboard)",
    "cfg(docsrs)",
]