Madgwick's IMU algorithm

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Description

Implementation of Madgwick's IMU algorithm.

Usage

1
MadgwickIMU(MSamplePeriod, MBeta, q, Gyroscope, Accelerometer)

Arguments

MSamplePeriod

Sample Period.

MBeta

Algorithm gain beta.

q

Quaternion.

Gyroscope

Gyroscope measurement.

Accelerometer

Accelerometer measurement.

Value

Quaternion describing the Earth relative to the sensor.

Author(s)

Jose Gama

References

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