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Continued Madgwick filter implementation

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This commit is contained in:
dario
2024-06-25 23:39:29 +02:00
parent 322b6d5a44
commit 997f199a77
4 changed files with 67 additions and 13 deletions
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7
include/sta/math/algorithms/attitude/madgwick.hpp
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@@ -10,6 +10,8 @@
#include <sta/math/quaternion.hpp>
#include <cstdint>
namespace sta
{
namespace math
@@ -22,7 +24,7 @@ namespace sta
* @param n
* @param alpha
*/
MadgwickFilter(Quaternion state, uint32_t n, float alpha);
MadgwickFilter(Quaternion state, Quaternion direction, uint32_t n, float alpha);
/**
* @brief Predicts the next step using rotation rate ingegration.
@@ -36,7 +38,10 @@ namespace sta
void correct(float dx, float dy, float dz);
private:
Quaternion objective(Quaternion q, Quaternion s);
Quaternion state_;
Quaternion direction_;
uint32_t n_;
float alpha_;
};