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Mayitzin
Attitude and Heading Reference Systems in Python
Those copies can be quite inneficient and it looks useless: https://github.com/Mayitzin/ahrs/blob/761ff0eff022d9b3a0c7e7eb58d0d038c5606355/ahrs/filters/ekf.py#L1107-L1108 Same for magnetometer here: https://github.com/Mayitzin/ahrs/blob/761ff0eff022d9b3a0c7e7eb58d0d038c5606355/ahrs/filters/ekf.py#L1117
`DEPRECATION: Loading egg at /opt/conda/lib/python3.11/site-packages/AHRS-0.3.1-py3.11.egg is deprecated. pip 24.3 will enforce this behaviour change. A possible replacement is to use pip for package installation.. Discussion can be found at https://github.com/pypa/pip/issues/12330`...
To calculate quaternion using gyroscope by integration of measurement, the factor is not 1/2 but -1/2 (sign error). qDot = -0.5*self.Omega(gyr) @ q # Quaternion derivative (eq. 39) To calculate...
Using the logic below to create a quaternion array in the _compute_all method overwrites Q[t-1] with the value that should be at Q[t]. ``` for t in range(1, num_samples): Q[t]...
Minor bug but when initializing an FAMC filter with no acc or mag entry, it throws: AttributeError: 'NoneType' object has no attribute 'copy' Here is the version of the initialization...
I don't see how to update the state of the new implementation of the complementary filter considering the previous state.
The calculation of the tilt-compensated heading, which is probably taken from NXP's AN4248 is incorrect. since the rotation matrices of the negative angles phi (roll) and theta (pitch) need to...
We are trying to estimate the attitude using the IMU of the Madgwick filter. However, the gyro data is not reflected and the attitude estimation is wrong. The code used...
In the [Attitude From Tilt](https://ahrs.readthedocs.io/en/latest/filters/tilt.html#), the documentation assigns roll=θ, and pitch=φ. However, in calculation of ψ the roll and pitch symbols have been swapped. This makes sense, since the original...
Hi, in the `rpy2q` function, the documentation uses the order roll, pitch, yaw. https://github.com/Mayitzin/ahrs/blob/48ed893b0ef7e3c54bb8c3764aff960d007dc7b4/ahrs/common/orientation.py#L761 However, the function unpacks the array as yaw, pitch, roll. https://github.com/Mayitzin/ahrs/blob/48ed893b0ef7e3c54bb8c3764aff960d007dc7b4/ahrs/common/orientation.py#L776 This is confusing, either the...