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SensorFusion

oxiphysics_io::sensor_io

Struct SensorFusion 

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pub struct SensorFusion {
    pub quaternion: [f64; 4],
    pub alpha: f64,
    pub beta: f64,
    pub euler: [f64; 3],
}
Expand description

Sensor fusion using complementary and Madgwick AHRS filters.

Estimates orientation from IMU data.

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§quaternion: [f64; 4]

Quaternion [w, x, y, z].

§alpha: f64

Complementary filter weight alpha (for gyro vs accel).

§beta: f64

Madgwick beta parameter.

§euler: [f64; 3]

Euler angles [roll, pitch, yaw] in degrees.

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impl SensorFusion

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pub fn new(alpha: f64, beta: f64) -> Self

Create a new sensor fusion instance.

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pub fn update_complementary(&mut self, accel: [f64; 3], gyro: [f64; 3], dt: f64)

Update with complementary filter.

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pub fn update_madgwick(&mut self, accel: [f64; 3], gyro: [f64; 3], dt: f64)

Update with Madgwick AHRS filter.

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pub fn roll(&self) -> f64

Get roll angle in degrees.

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pub fn pitch(&self) -> f64

Get pitch angle in degrees.

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pub fn yaw(&self) -> f64

Get yaw angle in degrees.

Trait Implementations§

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impl Clone for SensorFusion

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fn clone(&self) -> SensorFusion

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for SensorFusion

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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