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A six-state MEKF attitude filter #144

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A six-state MEKF attitude filter #144

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acab7f4
Move shared vector type to math module
bjornhbengtsson Jul 27, 2026
3b91d66
Start MEKF state and initialization
bjornhbengtsson Jul 27, 2026
90ca414
Add MEKF initialization unit tests
bjornhbengtsson Jul 27, 2026
33a2400
Add MEKF attitude and covariance prediction
bjornhbengtsson Jul 28, 2026
9056871
Add MEKF accelerometer correction
bjornhbengtsson Jul 29, 2026
af9a778
Merge Mahony updates into MEKF branch
bjornhbengtsson Aug 14, 2026
c327590
Fix MEKF transition matrix comment
bjornhbengtsson Aug 14, 2026
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10 changes: 0 additions & 10 deletions mahony/mahony.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,16 +30,6 @@ extern "C"
Typedefs
------------------------------------------------------------------------------*/

/**
* @brief Three-dimensional floating-point vector.
*/
typedef struct _VECTOR_3F
{
float x;
float y;
float z;
} VECTOR_3F;

/**
* @brief Mahony attitude filter status codes.
*/
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9 changes: 9 additions & 0 deletions math_sdr/math_sdr.h
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Expand Up @@ -57,6 +57,15 @@ typedef struct _QUAT
float w, x, y, z;
} QUAT;

/**
* @brief Three-dimensional floating-point vector.
*/
typedef struct _VECTOR_3F
{
float x;
float y;
float z;
} VECTOR_3F;

/*------------------------------------------------------------------------------
Macros
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