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Reglas de acentuación2 ficha interactiva topworksheets A robust, standalone 6-Axis (Gyroscope + Accelerometer) Attitude and Heading Reference System (AHRS) implementation. This library provides two algorithms: the original Madgwick-based fusion and an advanced Extended Kalman Filter (EKF) with adaptive filtering for challenging environments. Products Of Facebook

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├── optimized_mcu/ # MCU-optimized version (C-style) │ ├── Fusion_AHRS.h │ └── Fusion_AHRS.cpp ├── readable_cpp/ # Modern C++ version (better readability) │ ├── Fusion_AHRS.hpp │ └── Fusion_AHRS.cpp └── EKF_Version/ # Extended Kalman Filter with adaptive features ├── Fusion_AHRS.h # Base AHRS (same as optimized_mcu) ├── Fusion_AHRS.cpp ├── Tactical_Fusion.h └── Tactical_Fusion.cpp # Advanced EKF implementation 

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• $q = [q_0, q_1, q_2, q_3]$ is the quaternion
• $\omega = [0, \omega_x, \omega_y, \omega_z]$ is the angular velocity
• $\beta$ is the gain parameter
• $\nabla f$ is the gradient of the objective function

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• $f_d = 2(q_1q_3 - q_0q_2) - d_x$ (direction cosine matrix error)
• $f_g = 2(q_0q_1 + q_2q_3) - d_y$ (gyroscope error)
• $\lambda$ balances the two constraints

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• $q$: attitude quaternion
• $b$: gyroscope bias (rad/s)

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if (accDelta > accThreshold || gyroDelta > gyroThreshold) { impactDetected = true; }

1. Immediately reduce accelerometer weight to ignore false readings during impact
2. Ramp up gain during recovery for fast convergence

Weight(t) = w_impact + (w_normal - w_impact) * (t / recovery_duration) 

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#include "Fusion_AHRS.h" FusionAhrs ahrs; FusionOffset offset; void main() { FusionAhrsInitialise(&ahrs); FusionOffsetInitialise(&offset, 100); // 100 Hz while (1) { FusionVector gyro = {gx, gy, gz}; // deg/s FusionVector acc = {ax, ay, az}; // g // Gyroscope bias correction gyro = FusionOffsetUpdate(&offset, gyro); // Update AHRS FusionAhrsUpdate(&ahrs, gyro, acc, 0.01f); // Get result FusionQuaternion q = FusionAhrsGetQuaternion(&ahrs); FusionEuler euler = FusionQuaternionToEuler(q); } }

#include "Tactical_Fusion.h" TacticalSystem sys; void main() { Tactical_Init(&sys, 100.0f, 0.1f); // 100 Hz, 0.1 Hz heave cutoff while (1) { FusionVector gyro = {gx, gy, gz}; // deg/s FusionVector acc = {ax, ay, az}; // g Tactical_Update(&sys, gyro, acc); FusionQuaternion q = sys.quaternion; } }

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