A Rust port of Sebastian Madgwick's AHRS algorithm.
Add ahrs-rs to your Cargo.toml:
toml
[dependencies]
ahrs = "0.2.0"
Here's a simple example that updates the filter state with arbitrary sensor data:
```rust extern crate nalgebra as na; extern crate ahrs;
use ahrs::{Ahrs, Madgwick}; use na::{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.
GPLv3