Implement Mahony filter for attitude estimation - #142

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bjornhbengtsson wants to merge 19 commits into

feature/gravity-compensated-accelerationfrom

feature/mahony-attitude-filter

Commits on Jul 24, 2026

Start Mahony attitude filter with gyro propagation
bjornhbengtsson
committed
35bccef

Commits on Jul 25, 2026

Commits on Jul 26, 2026

Integrate Mahony filter into sensor state estimation
bjornhbengtsson
committed
eaa16ed

Commits on Jul 27, 2026

Document Mahony gain tuning rationale
bjornhbengtsson
committed
3e82cb8

Commits on Aug 3, 2026

Commits on Aug 7, 2026

Revert "Convert Mahony attitude to world-to-body convention"
bjornhbengtsson
committed
13ce68c

Commits on Aug 9, 2026

Add Mahony status enum
bjornhbengtsson
committed
ee214a3
Handle Mahony status in sensor integration
bjornhbengtsson
committed
c8efc99
Fix Mahony status check in release build
bjornhbengtsson
committed
c9858e9

Commits on Aug 14, 2026