Struct MadgwickFilter 

pub struct MadgwickFilter<T> { /* private fields */ }

Madgwick filter.

Implementations

impl<T> MadgwickFilter<T>

where T: Copy + Zero + One + Default,

pub fn new() -> Self

impl<T> MadgwickFilter<T>

where T: Copy + One + Zero + Neg<Output = T> + PartialOrd + Sub<Output = T> + Div<Output = T> + Vector3dMath + QuaternionMath + SqrtMethods + SensorFusionMath,

pub fn set_beta(&mut self, beta: T)

Trait Implementations

impl<T: Clone> Clone for MadgwickFilter<T>

fn clone(&self) -> MadgwickFilter<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for MadgwickFilter<T>

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

Formats the value using the given formatter.

impl<T> Default for MadgwickFilter<T>

where T: Copy + Zero + One + Default,

fn default() -> Self

Returns the “default value” for a type.

impl<T: PartialEq> PartialEq for MadgwickFilter<T>

fn eq(&self, other: &MadgwickFilter<T>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<T> SensorFusion<T> for MadgwickFilter<T>

where T: Copy + Zero + PartialOrd + QuaternionMath + SqrtMethods + SensorFusionMath,

Madgwick AHRS algorithm, calculates orientation by fusing output from gyroscope and accelerometer. (No magnetometer is used in this implementation.)

The orientation is calculated as the integration of the gyroscope measurements summed with the measurement from the accelerometer multiplied by a gain. A low gain gives more weight to the gyroscope more and so is more susceptible to drift. A high gain gives more weight to the accelerometer and so is more susceptible to accelerometer noise, lag, and other accelerometer errors. A gain of zero means that orientation is determined by solely by the gyroscope.

See Sebastian Madgwick’s Phd thesis and also x-io Technologies sensor fusion library.

For computation efficiency this code refactors the code used in many implementations (Arduino, Adafruit, M5 Stack, Reefwing-AHRS), see Madgwick refactoring.

fn fuse_acc_gyro( &mut self, acc: Vector3d<T>, gyro_rps: Vector3d<T>, delta_t: T, ) -> Quaternion<T>

Fuses accelerometer and gyroscope readings to give the orientation quaternion.

fn fuse_acc_gyro_mag( &mut self, acc: Vector3d<T>, gyro_rps: Vector3d<T>, mag: Vector3d<T>, delta_t: T, ) -> Quaternion<T>

Fuses accelerometer, gyroscope, and magnetometer readings to give the orientation quaternion.

fn set_gains(&mut self, gain0: T, _gain1: T)

fn requires_initialization() -> bool

impl<T: Copy> Copy for MadgwickFilter<T>

impl<T> StructuralPartialEq for MadgwickFilter<T>