Added imu preintegration and migrated from Madgwick to VQF algorithm for orientation estimation - #391

Merged

JanuszBedkowski merged 13 commits into

MapsHD:mainfrom

Jakubach:imu_preintegration

Mar 8, 2026

Commits on Mar 2, 2026

Commits on Mar 8, 2026

Merge remote-tracking branch 'origin/main' into imu_preintegration
Jakubach
committed
e256e59
Replace Fusion AHRS with VQF orientation estimation
Jakubach
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f8f19fe
Fix double counter increment in debug output and set VQF tauAcc in quick_start_demo
Jakubach
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46a3b37
Add VQF library as git submodule
Jakubach
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4769c8a
Change default preintegration method to Trapezoidal (AHRS/VQF)
Jakubach
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ad01c8f
Rename ahrs_gain to vqf_tauAcc, update GUI labels and tooltips, set default to 0.5s
Jakubach
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955bd29
Merge remote-tracking branch 'origin/main' into imu_preintegration
Jakubach
committed
29d882c
SM-independent initial_velocity for IMU preintegration
Jakubach
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1c78514
Expose all VQF parameters in GUI and TOML
Jakubach
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fbff2d3