IMU Data Fusing: Complementary, Kalman, and Mahony Filter
ref:http://www.olliw.eu/2013/imu-data-fusing/
Mahony’s Filter in Quaternion Form as Implemented by Madgwick (code: madgwick_algorithm_c.zip)
Madgwick’s 6DOF IMU Filter (wo gyro drift correction) (code: madgwick_algorithm_c.zip)
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