Version: 2.7.0
Describe the feature you'd like
A Mahony filter is a sensor fusion algorithm that can take in gyro, accelerometer, and magnetometer readings and outputs quaternions. It also uses a PI feedback loop to reduce bias and error.
Mahony filters are fairly lightweight so this would be an ideal starting point for better sensor fusion, although this filter will still have the problem of gravity fusion not working during flight.
Describe alternatives you've considered
- Complimentary filter: our current solution only fuses accelerometer data during prelaunch and dead reckons gyro for the flight.
- Kalman Filter: Much more expensive and complex algorithm that offers more flexibility. Would likely be a future improvement after a Mahony filter.
Additional context
Biiiig and slightly outdated document on all this sensor stuff - https://drive.google.com/file/d/1sDxYfxNi23cr_N7QGa2v43xJkiG-qXSN/view?usp=drive_link
Points of Contact
Rev 2 lead and sensor: @NArmistead
Version: 2.7.0
Describe the feature you'd like
A Mahony filter is a sensor fusion algorithm that can take in gyro, accelerometer, and magnetometer readings and outputs quaternions. It also uses a PI feedback loop to reduce bias and error.
Mahony filters are fairly lightweight so this would be an ideal starting point for better sensor fusion, although this filter will still have the problem of gravity fusion not working during flight.
Describe alternatives you've considered
Additional context
Biiiig and slightly outdated document on all this sensor stuff - https://drive.google.com/file/d/1sDxYfxNi23cr_N7QGa2v43xJkiG-qXSN/view?usp=drive_link
Points of Contact
Rev 2 lead and sensor: @NArmistead