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2x missing x2 #50

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jisa opened this issue Apr 4, 2024 · 0 comments
Open

2x missing x2 #50

jisa opened this issue Apr 4, 2024 · 0 comments
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topic: code Related to content of the project itself type: imperfection Perceived defect in any part of project

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@jisa
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jisa commented Apr 4, 2024

Hello, thanks for making Madgwick filter so easily available on Arduinos!

Are you aware of the analysis in https://github.com/RideBeeline/madgwick-investigation?

It reveals that the code here is missing two multiplications by two. What is called two bx and two bz here is in fact bx and bz.

It can be fixed by, for example, adding these two lines.

After reading the original paper (pdf) and a Python implementation, I support the conclusion of the analysis.
@per1234 per1234 added type: imperfection Perceived defect in any part of project topic: code Related to content of the project itself labels Apr 5, 2024
MatRanc added a commit to MatRanc/MadgwickAHRS that referenced this issue Nov 15, 2024
@MatRanc
*2 missing fix
f32cb6b 
Implement the fix as described in arduino-libraries#50
@MatRanc MatRanc mentioned this issue Nov 15, 2024
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topic: code Related to content of the project itself type: imperfection Perceived defect in any part of project
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