Crate vqf 

Versatile Quaternion Filter (VQF) for Orientation Estimation.

This crate implements the VQF based on this paper.

⚠️ Currently this crate does not implement the magnometer update.

Example

use nalgebra::Vector3;
use std::time::Duration;
use vqf::{Vqf, VqfParameters};

let gyro_rate = Duration::from_secs_f32(0.01); // 100Hz
let accel_rate = Duration::from_secs_f32(0.01);
let params = VqfParameters::default();

let mut vqf = Vqf::new(gyro_rate, accel_rate, params);

let gyro_data = Vector3::new(0.01, 0.02, -0.01); // rad/s
let accel_data = Vector3::new(0.0, 0.0, 9.81); // m/s^2
vqf.update(gyro_data, accel_data);

let orientation = vqf.orientation();
println!("Current orientation: {:?}", orientation);

Modules

low_pass_filter

A module implementing second-order Butterworth low-pass filters for multi-dimensional signals.

Structs

Vqf

Filter for orientation estimation using accelerometer and gyroscope measurements.

VqfBiasCoefficients

Coefficients for gyroscope bias estimation.

VqfCoefficients

Coefficients used for in a Vqf system.

VqfParameters

Parameters for configuring a Vqf.

VqfState

The state of a Vqf filter.