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(Updated) Implement Mahony filter for attitude estimation- #142 - #156

Merged

NArmistead merged 53 commits into

feature/gravity-compensated-accelerationfrom

bb-na/mahony-attitude-filter

Sep 29, 2026

Merged

(Updated) Implement Mahony filter for attitude estimation- #142#156
NArmistead merged 53 commits into
feature/gravity-compensated-accelerationfrom
bb-na/mahony-attitude-filter

Commits on Sep 27, 2026
- Start Mahony attitude filter with gyro propagation
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  eef806e
- Add proportional accelerometer correction to Mahony filter
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  ff6d54f
- Add Mahony attitude diagnostic output tests
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  3fd5916
- Add accelerometer validity gating to Mahony filter
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  9d5435c
- Add integral correction and anti-windup to Mahony filter
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  16a9fb8
- Integrate Mahony filter into sensor state estimation
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  b977a6b
- Document Mahony gain tuning rationale
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  f40302c
- Convert Mahony attitude to world-to-body convention
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  5ded58a
- Update Mahony tests for renamed framework
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  735e37a
- Revert "Convert Mahony attitude to world-to-body convention"
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  a174b39
- Add Mahony status enum
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  563b054
- Handle Mahony status in sensor integration
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  9df0ec9
- Fix Mahony status check in release build
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  f5eb22d
- Sync sensor orientation and filter cleanup
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  639b9c2
- Propagate Mahony update failures
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  74ae4d3
- Make identity quaternion const
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  a2ea0ee
- Format Mahony logical operators
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  052abe2
- Document Mahony helper functions
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  b52ac4c
- Restore eul_to_quat
  NArmistead
  committed
  069384f
- Flip gravity world vector, style changes
  NArmistead
  committed
  6565214
- Move vectors to math_sdr, update docs
  NArmistead
  committed
  330aa6a
- Disable yaw integral correction
  NArmistead
  committed
  2b36149
- Quick imu velo patch
  NArmistead
  committed
  43c9a54
- nfc: identity quat macro, minor style changes
  NArmistead
  committed
  6cf6008
- Fix and move mahony test to _test
  NArmistead
  committed
  6ca0fbb
- Merge attempt 2
  NArmistead
  committed
  f080551
- Some test updates
  NArmistead
  committed
  b1d0bb9
- Add world-to-body quaternion vector rotation
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  6236ae0
- Apply gravity compensation to velocity integration
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  5e1d5ee
- Add math_sdr unit tests
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  3eb9b1f
- Start Mahony attitude filter with gyro propagation
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  d7fa65f
- Add proportional accelerometer correction to Mahony filter
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  4e9ba51
- Add Mahony attitude diagnostic output tests
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  eefb111
- Add accelerometer validity gating to Mahony filter
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  ad36b26
- Add integral correction and anti-windup to Mahony filter
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  c764b0d
- Integrate Mahony filter into sensor state estimation
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  1d9e2dd
- Document Mahony gain tuning rationale
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  1aa86d1
- Convert Mahony attitude to world-to-body convention
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  376f861
- Rename test directory and document NED frame
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  871ee53
- Update Mahony tests for renamed framework
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  2bf17e2
- Revert "Convert Mahony attitude to world-to-body convention"
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  1d123db
- Add Mahony status enum
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  4b01346
- Sync sensor orientation and filter cleanup
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  3ef2849
- Format Mahony logical operators
  
  bjornhbengtsson
  authored and
  NArmistead
  committed
  3e7fe9a
- Restore eul_to_quat
  NArmistead
  committed
  b6588b0
- Flip gravity world vector, style changes
  NArmistead
  committed
  3d3c445
- Move vectors to math_sdr, update docs
  NArmistead
  committed
  e403920
- Disable yaw integral correction
  NArmistead
  committed
  c6cab43
- Quick imu velo patch
  NArmistead
  committed
  e212ae3
- Fix and move mahony test to _test
  NArmistead
  committed
  6897011
- Some test updates
  NArmistead
  committed
  b7dce3f
- Rebase cleanup
  NArmistead
  committed
  38226b3
Commits on Sep 29, 2026
- Addressing review
  NArmistead
  committed
  bec12d6

Commits

Commits on Sep 27, 2026

Commits on Sep 29, 2026