//AHRS.c// SOH Madgwick// 25th August 2010//// Quaternion implementation of the ' DCM filter' [Mayhony et al]. Incorporates the magnetic distortion// compensation algorithms from my filter [Madgwick] which eliminates the need for a reference// direction of flux (bx bz) to be predefined and limits the effect of magnetic distortions to yaw// axis only.

AHRS.c

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