Crate fusion_imu

Fusion AHRS

This library provides idiomatic Rust bindings to the Fusion AHRS C library. See https://github.com/xioTechnologies/Fusion for algorithm details.

Usage

Bindings are generated from the C headers at build time using a build.rs script. This script also compiles the C library for the correct target. Both require a C compiler to be installed.

When cross-compiling for other targets you may get an error like:

fatal error: 'math.h' file not found

To solve this, set the FUSION_IMU_INCLUDE_PATH environment variable to the folder that contains the math.h header for the target you’re compiling for.

Features

• serde - Enables serde support for the input and output types of this crate.
• defmt - Derives defmt::Format on the input and output types of this crate.

License

This crate is licenced under the MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT). The C library is licensed under the same license.

Structs

Euler

Euler angles.

Flags

AHRS algorithm flags.

FusionAhrs

AHRS algorithm structure.

FusionOffset

Gyroscope offset algorithm structure.

InternalStates

AHRS algorithm flags.

Matrix

3x3 matrix in row-major order.

Quaternion

Quaternion.

Settings

AHRS algorithm settings.

Vector

3D vector.

Enums

Convention

Earth axes convention.

Functions

calibration_inertial

Gyroscope and accelerometer calibration model.

calibration_magnetic

Magnetometer calibration model.