dcmimu

An algorithm for fusing low-cost triaxial MEMS gyroscope and accelerometer measurements.

A no_std Rust port of the original.

NOTE: libm still doesn't work with overflow checks, so you have to compile your project with --release. Leave a comment in the linked issue to raise awareness.

Credentials

Heikki Hyyti and Arto Visala, "A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs," International Journal of Navigation and Observation, vol. 2015, Article ID 503814, 18 pages, 2015.

Usage

Library is available via crates.io .

```rust

Create DCMIMU:

let mut dcmimu = DCMIMU::new(); let mut prevtms = now(); loop { # get gyroscope and accelerometer measurement from your sensors: let gyro = sensor.readgyro(); let accel = sensor.readaccel(); # Convert measurements to SI if needed. # Get time difference since last update: let tms = now(); let dtms = tms - prevtms prevtms = tms # Update dcmimu states (don't forget to use SI): let (dcm, gyrobiases) = dcmimu.update((gyro.x, gyro.y, gyro.z), (accel.x, accel.y, accel.z), dt_ms.seconds()); println!("Roll: {}; yaw: {}; pitch: {}", dcm.roll, dcm.yaw, dcm.pitch); # Measurements can also be queried without updating: println!("{:?} == {}, {}, {}", dcmimu.all(), dcmimu.roll(), dcmimu.yaw(), dcmimu.pitch()); }

```

Check out mpu9250 for accelerometer/gyroscrope sensors driver.

Documentation

Available via docs.rs.

License

MIT license.