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RAHRS (version 1.0.2)

MadgwickAHRS: Madgwick's AHRS algorithm

Description

Implementation of Madgwick's AHRS algorithm.

Usage

MadgwickAHRS(MSamplePeriod, MBeta, q, Gyroscope, Accelerometer, Magnetometer)

Arguments

MSamplePeriod
Sample Period.
MBeta
Algorithm gain beta.
q
Quaternion.
Gyroscope
Gyroscope measurement.
Accelerometer
Accelerometer measurement.
Magnetometer
Magnetometer measurement.

Value

Quaternion describing the Earth relative to the sensor.

References

S. O. H. Madgwick, An efficient orientation filter for inertial and inertial/magnetic sensor arrays, Technical report, University of. Bristol University, UK, 2010.