15 unstable releases
0.7.0 | Sep 13, 2024 |
---|---|
0.6.0 | Jan 13, 2023 |
0.5.0 | Feb 9, 2022 |
0.4.0 | Oct 4, 2021 |
0.1.3 | Nov 17, 2016 |
#454 in Hardware support
110 downloads per month
Used in 3 crates
(2 directly)
25KB
415 lines
ahrs-rs
A Rust port of Sebastian Madgwick's AHRS algorithm.
Usage
Add ahrs-rs to your Cargo.toml
:
[dependencies]
ahrs = "0.7"
Here's a simple example that updates the filter state with arbitrary sensor data:
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:
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;
}
License
MIT
Dependencies
~3MB
~65K SLoC