AHRS: Attitude heading and reference system

For rust embedded systems. For example, UAS, robotics etc.

lib.rs:

This module contains code for determing attitude and heading, as well a sensor fusion with locaiton.

To determine attitude, it fuses acceleeration, gyro, and mag data, 3D each.

Conventions We define +X to be right, +Y to be forward and +Z to be u. We use the right hand rule for rotations along these axes.

Magnetic inclination chart: https://upload.wikimedia.org/wikipedia/commons/d/de/World_Magnetic_Inclination_2015.pdf https://www.magnetic-declination.com/