Struct madgwick::Marg

pub struct Marg { /* fields omitted */ }

MARG orientation filter

Methods

impl Marg

pub fn new(beta: f32, sample_period: f32) -> Self

Creates a new MARG filter

• beta, filter gain. See section 3.6 of the report for details.
• sample_period, period at which the sensors are being sampled (unit: s)

pub fn update(&mut self, m: F32x3, ar: F32x3, g: F32x3) -> Quaternion

Updates the MARG filter and returns the current estimate of the 3D orientation

• m, magnetic north / magnetometer readings
• ar, angular rate / gyroscope readings (unit: rad / s)
• g, gravity vector / accelerometer readings

Trait Implementations