A Rust port of Sebastian Madgwick's AHRS algorithm.
Add ahrs-rs to your Cargo.toml
:
[dependencies]
ahrs = "0.3"
Here's a simple example that updates the filter state with arbitrary sensor data:
use ahrs::{Ahrs, Madgwick};
use nalgebra::{Vector3, Quaternion};
use std::f64;
fn main() {
// Initialize filter with default values
let mut ahrs = Madgwick::default();
// Obtain sensor values from a source
let gyroscope = Vector3::new(60.1, 30.2, 20.3);
let accelerometer = Vector3::new(0.1, 0.2, 0.3);
let magnetometer = Vector3::new(0.5, 0.6, 0.7);
// Run inputs through AHRS filter (gyroscope must be radians/s)
let quat: &Quaternion<f64> = ahrs.update(
&(gyroscope * (f64::consts::PI/180.0)),
&accelerometer,
&magnetometer
).unwrap();
// Do something with the updated state quaternion
println!("{}", quat);
}
Crate nalgebra is also needed as a dependency for its algebraic types Vector3
and Quaternion
.
Gives [im]mutable access to inner algorithm struct fields that aren't normally exposed. The exposed API is considered unstable for the time-being, but is nevertheless a useful feature. For example:
use ahrs::Madgwick;
let mut ahrs = Madgwick::default();
#[cfg(feature = "field_access")]
{
let sample_period: &mut f64 = ahrs.sample_period_mut();
*sample_period = 0.5;
}
GPLv3