Alternate AHRS algorithm - AQUA

[dlktdr]

Sample code using a different AHRS filter. So far in my testing the drift on yaw is quite a bit better. Fairly low computation requirements as well. Also outputs in quaternions which is ideal for future board rotation plans.

I would suggest testing it with magnetometer disabled first. New page on the GUI you can play with the filter parameters.

Link to the Paper
https://res.mdpi.com/sensors/sensors-15-19302/article_deploy/sensors-15-19302.pdf

[L1cardo]

I could say this is really incredible!
On my device, the drift is really improved a looooot!

[dlktdr]

I could say this is really incredible! On my device, the drift is really improved a looooot!

Glad to hear it wasn't just me. I'll see if some other people can test too. I was only testing on nano rev 2 so far. What board did you test on?

For future people commenting, can you please tell me what board you're testing on as well.

[L1cardo]

I could say this is really incredible! On my device, the drift is really improved a looooot!

Sorry for not testing much.

Tried both on DTQSYS Head Tracker and my own hardware, both with mag off, and I found some issue:

1. If the board doesn't move, not even a bit, there won't be no drift, not a little drift at all, this is what I said a fews days ago.
2. But If the board has a little angle from calibration position, the drift keeps increasing.

[dlktdr]

Hmm. Okay, I'll keep putting it flat on my desk. I'll give it a try setting it down in different positions. Thanks

Update - Found the potential cause here. Somehow the Accelerometer offset value is inverted giving values close to 1g. Will have to investigate. This would cause pretty serious issues.