Crate fusion_ahrs

  

Fusion AHRS - A sensor fusion library for attitude and heading reference systems

This is a Rust port of the C library by xioTechnologies: https://github.com/xioTechnologies/Fusion

This library provides a complete implementation of an AHRS algorithm that fuses gyroscope, accelerometer, and magnetometer data to estimate device orientation. It features automatic sensor rejection during motion/interference and recovery mechanisms for robust operation.

Features

• Complementary filter with sensor fusion
• Automatic accelerometer rejection during motion
• Automatic magnetometer rejection during magnetic interference
• Gyroscope offset correction for temperature drift
• Support for multiple Earth coordinate conventions (NWU, ENU, NED)
• #![no_std] compatible for embedded systems

Quick Start

use nalgebra::Vector3;
use fusion_ahrs::{Ahrs, AhrsSettings};

let mut ahrs = Ahrs::new();

// Sensor readings
let gyroscope = Vector3::new(0.1, 0.2, 0.3);      // deg/s
let accelerometer = Vector3::new(0.0, 0.0, 1.0);  // g
let magnetometer = Vector3::new(1.0, 0.0, 0.0);   // µT

// Update AHRS
ahrs.update(gyroscope, accelerometer, magnetometer, 0.01); // 10ms

// Get orientation
let quaternion = ahrs.quaternion();

// Convert to Euler angles (roll, pitch, yaw)
let (roll, pitch, yaw) = quaternion.euler_angles();

For more documentation and examples, see: https://github.com/wboayue/fusion-ahrs

Re-exports

pub use calibration::calibrate_inertial;

pub use calibration::calibrate_magnetic;

pub use compass::calculate_heading;

pub use offset::Offset;

Modules

calibration

Sensor calibration functions for the Fusion AHRS library

compass

Tilt-compensated compass implementation for the Fusion AHRS library

offset

Gyroscope offset correction for the Fusion AHRS library

Structs

Ahrs

Main AHRS algorithm structure

AhrsFlags

AHRS algorithm flags

AhrsInternalStates

AHRS algorithm internal states

AhrsSettings

AHRS algorithm settings

OffsetSettings

Gyroscope offset correction settings

Enums

Convention

Earth axes convention

Constants

DEG_TO_RAD

Conversion factor from degrees to radians

RAD_TO_DEG

Conversion factor from radians to degrees

Traits

QuaternionExt

Extension trait for UnitQuaternion operations

Vector3Ext

Extension trait for Vector3 operations