Struct MadgwickFilter 

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

Madgwick filter.

Implementations

impl<T> MadgwickFilter<T>

where T: Copy + ConstZero + ConstOne + ConstFour,

pub const fn new() -> Self

Constructor.

pub const fn with_beta(self, beta: T) -> Self

Set the beta gain of a newly constructed filter.

pub const fn with_orientation(self, orientation: Quaternion<T>) -> Self

Set the orientation of a newly constructed filter.

impl<T: Copy> MadgwickFilter<T>

pub fn set_orientation(&mut self, orientation: Quaternion<T>)

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

pub fn set_beta_yaw(&mut self, beta_yaw: T)

impl<T> MadgwickFilter<T>

where T: Copy + FloatCore + QuaternionMath + SensorFusionMath + MathMethods,

pub fn correct_yaw(&mut self, yaw_radians: T, delta_t: T) -> Quaternion<T>

Trait Implementations

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

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

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

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 + ConstZero + ConstOne + ConstFour,

fn default() -> Self

Returns the “default value” for a type.

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

fn eq(&self, other: &Self) -> bool

Equality operator ==.

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

Inequality operator !=.

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

where T: Copy + FloatCore + QuaternionMath + SensorFusionMath + MathMethods,

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: Vector3<T>, gyro_rps: Vector3<T>, delta_t: T, ) -> Quaternion<T>

Fuses accelerometer and gyroscope readings to give the orientation quaternion.

fn fuse_acc_gyro_mag( &mut self, acc: Vector3<T>, gyro_rps: Vector3<T>, mag: Vector3<T>, delta_t: T, ) -> Quaternion<T>

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

fn correct_yaw_with_gain( &mut self, yaw_radians: T, gain: T, delta_t: T, ) -> Quaternion<T>

Note delta_t is the time since correct_yaw was last called, distinct from the delta_t in fuse_acc_gyro. This function called at a frequency of ~10Hz if called from a GPS update, or ~200Hz for a magnetometer update. It is normally called withing the Gyro/PID loop and so should be as fast as possible to minimize jitter.

fn set_gains(&mut self, gain0: T, gain1: T)

fn gains(&self) -> (T, T)

fn requires_initialization() -> bool

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