Struct ComplementaryFilter 

pub struct ComplementaryFilter { /* private fields */ }

A first-order Complementary Filter for attitude estimation.

The internal state represents the filtered angle, blending integrated angular rates with an absolute reference.

Implementations

impl ComplementaryFilter

pub fn new(alpha: f32) -> Self

Alpha is the trust coefficient for the gyroscope measurement. A value of 1.0 means we trust the gyro completely, while 0.0 means we trust the accelerometer completely. Typically set to 0.98 for flight controllers.

pub fn set_alpha(&mut self, alpha: f32)

Dynamically updates the trust coefficient.

Useful for adaptive filtering where trust in the accelerometer might decrease during high-G maneuvers.

Trait Implementations

impl Filter for ComplementaryFilter

fn update(&mut self, input: Self::Input, dt: f32) -> Self::Output

Processes a new sensor sample to update the attitude estimate.

This method implements the discrete-time fusion equation: θ = α * (θ + ω * dt) + (1 - α) * a

Mathematical Steps

1. Prediction: Integrate the angular rate (gyro) into the current state.
2. Correction: Apply the reference angle (accel) to cancel integration drift.

fn reset(&mut self)

Resets the filter’s internal state to zero.

Should be called during the ‘Disarm’ phase to ensure the next takeoff sequence starts from a clean level-reference.

type Input = InertialInput

The raw sensor data or multi-sensor packet to be processed.

type Output = Radians

The filtered estimate, usually a physical unit like Radians.

fn new(alpha: f32) -> Self

Factory method to initialize a filter with a smoothing or trust coefficient.