Updated quaternion class, added attitude from tilt, started madgwick filter

2025-09-29 06:37:33 +00:00 · 2024-12-11 20:12:29 +01:00
parent 47ca310551
commit 3b11501f3b
2 changed files with 8 additions and 10 deletions
--- a/src/algorithms/attitude/madgwick.cpp
+++ b/src/algorithms/attitude/madgwick.cpp
@@ -6,15 +6,13 @@
 */

 #include <sta/math/algorithms/attitude/madgwick.hpp>
-#include <sta/math/linalg/matrix.hpp>

 namespace sta
 {
 	namespace math
 	{
-		MadgwickFilter::MadgwickFilter(Quaternion state, Quaternion direction, uint32_t n, float alpha)
-			: state_{state},
-			  direction_{direction},
+		MadgwickFilter::MadgwickFilter(Quaternion state, uint32_t n, float alpha)
+			: state_{state.normalized()},
 			  n_{n},
 			  alpha_{alpha}
 		{