ahrs-rs

A Rust port of Sebastian Madgwick's AHRS algorithm.

Documentation

Usage

Add ahrs-rs to your Cargo.toml:

toml [dependencies] ahrs = "0.4"

Here's a simple example that updates the filter state with arbitrary sensor data:

```rust use ahrs::{Ahrs, Madgwick}; use nalgebra::Vector3; 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 = ahrs
    .update(
        &(gyroscope * (f64::consts::PI / 180.0)),
        &accelerometer,
        &magnetometer,
    )
    .unwrap();
let (roll, pitch, yaw) = quat.euler_angles();

// Do something with the updated state quaternion
println!("pitch={}, roll={}, yaw={}", pitch, roll, yaw);

} ```

Crate nalgebra is also needed as a dependency for its algebraic types Vector3 and Quaternion.

Feature flags

field_access

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:

```rust use ahrs::Madgwick;

let mut ahrs = Madgwick::default();

[cfg(feature = "field_access")]

{ let sampleperiod: &mut f64 = ahrs.sampleperiodmut(); *sampleperiod = 0.5; } ```

License

GPLv3