INDI::MahonyFilter Class Reference

Mahony AHRS filter (9-DOF and 6-DOF). More...

#include <imusensorfusion.h>

Inheritance diagram for INDI::MahonyFilter:

Public Member Functions
	MahonyFilter (double kp=2.0, double ki=0.005)
virtual	~MahonyFilter ()=default
void	update (double gx, double gy, double gz, double ax, double ay, double az, double mx, double my, double mz, double dt, bool useMag=true) override
	Perform one filter update step.
void	getQuaternion (double &w, double &i, double &j, double &k) const override
	Return the current orientation quaternion.
void	reset () override
	Reset the filter to the identity quaternion.
void	setKp (double kp)
	Set proportional gain Kp.
double	getKp () const
void	setKi (double ki)
	Set integral gain Ki.
double	getKi () const
Public Member Functions inherited from INDI::IMUSensorFusion
virtual	~IMUSensorFusion ()=default

Detailed Description

Mahony AHRS filter (9-DOF and 6-DOF).

A complementary filter based on a Proportional-Integral (PI) controller on the SO(3) Lie group. Two tuning parameters:

Kp — Proportional gain: how strongly the accelerometer/magnetometer corrects the gyroscope integration. Higher → faster convergence. Ki — Integral gain: compensates for systematic gyroscope bias drift. Set to 0 to disable integral correction.

Recommended starting values: Kp = 2.0, Ki = 0.005.

Reference: Mahony, R. et al. (2008) "Nonlinear Complementary Filters on the Special Orthogonal Group"

Definition at line 162 of file imusensorfusion.h.

Constructor & Destructor Documentation

MahonyFilter()

INDI::MahonyFilter::MahonyFilter ( double  kp = 2.0, double  ki = 0.005  )

explicit

Parameters

kp	Proportional gain. Default 2.0.
ki	Integral gain. Default 0.005.

Definition at line 235 of file imusensorfusion.cpp.

~MahonyFilter()

virtual INDI::MahonyFilter::~MahonyFilter ( )

virtualdefault

Member Function Documentation

getKi()

double INDI::MahonyFilter::getKi ( ) const

inline

Definition at line 196 of file imusensorfusion.h.

getKp()

double INDI::MahonyFilter::getKp ( ) const

inline

Definition at line 186 of file imusensorfusion.h.

getQuaternion()

void INDI::MahonyFilter::getQuaternion ( double &  w, double &  i, double &  j, double &  k  ) const

overridevirtual

Return the current orientation quaternion.

Parameters

w	Scalar (real) component
i	Vector X component
j	Vector Y component
k	Vector Z component

Implements INDI::IMUSensorFusion.

Definition at line 253 of file imusensorfusion.cpp.

reset()

void INDI::MahonyFilter::reset ( )

overridevirtual

Reset the filter to the identity quaternion.

Implements INDI::IMUSensorFusion.

Definition at line 242 of file imusensorfusion.cpp.

setKi()

void INDI::MahonyFilter::setKi ( double  ki )

inline

Set integral gain Ki.

Definition at line 192 of file imusensorfusion.h.

setKp()

void INDI::MahonyFilter::setKp ( double  kp )

inline

Set proportional gain Kp.

Definition at line 182 of file imusensorfusion.h.

update()

void INDI::MahonyFilter::update ( double  gx, double  gy, double  gz, double  ax, double  ay, double  az, double  mx, double  my, double  mz, double  dt, bool  useMag = true  )

overridevirtual

Perform one filter update step.

Parameters

gx	Gyroscope X-axis angular rate (rad/s)
gy	Gyroscope Y-axis angular rate (rad/s)
gz	Gyroscope Z-axis angular rate (rad/s)
ax	Accelerometer X-axis (m/s² or any unit — only direction used)
ay	Accelerometer Y-axis
az	Accelerometer Z-axis
mx	Magnetometer X-axis (µT or any consistent unit)
my	Magnetometer Y-axis
mz	Magnetometer Z-axis
dt	Time step in seconds since last update
useMag	If false the magnetometer data is ignored (6-DOF mode)

Implements INDI::IMUSensorFusion.

Definition at line 261 of file imusensorfusion.cpp.

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The documentation for this class was generated from the following files:

• imusensorfusion.h
• imusensorfusion.cpp