ahrs
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Mayitzin
Attitude and Heading Reference Systems in Python
When used on the same reading Madgwick and AQUA produce opposite results. This causes spinning in opposite directions. I can guess that it is just how filters implementation works, but...
In method `def _compute_all(self):` of filters that have a parameter `q0`, computation is 1 element off. For example, in the AQUA filter: ``` Q[0] = self.init_q(self.acc[0], self.mag[0]) if self.q0 is...
Looks like a very interesting toolkit, thanks for sharing it. I've tried to run the Mahony AHRS algorithm on some accel and gyro data I have but keep running into...
## Class: Quaternion A vector `x` in 3D can be rotated with the methods `rotate()` and `to_DCM()` as: ```python q = Quaternion([1.0, 2.0, 3.0, 4.0]) x = [1.0, 2.0, 3.0]...
Thanks for making this package available I use Madgwick filter in two different modes **first one** quat = np.zeros((time_run.size, 4), dtype=np.float64) """initialize filter""" madgwick = ahrs.filters.Madgwick(frequency=fs) """ initial state""" quat[0]...
Hi, I'm trying to calculate quaternions with AQUA filter - using only acc and gyro. I actually implemented this ``` for index in range(len(timestamp)): q[index] = AQUA.estimate(AQUA, accelerometer[index]) q1[index] =...
The documentation: https://ahrs.readthedocs.io/en/latest/filters/complementary.html ## Attitude propagation The following line adds a sign that seems to contradict the documentation. Why is that? https://github.com/Mayitzin/ahrs/blob/9e02c5d8efe6c2fcb96ce6d4b0b20370d5d2c5f8/ahrs/filters/complementary.py#L247-L253 ## Filter Negate `q_am` in some cases? Why?...
Thanks for the wonderful package. I wonder how accurate is this extended kalman filter without taking care of bias and body frame acceleration. Any plan to take care of bias...
First of all, Thanks for making this package available! While using the Quaternion class I experienced weird behavior to go to / from DCM. For example: 1. if your satellite...
