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Mayitzin / ahrs

Attitude and Heading Reference Systems in Python
https://ahrs.readthedocs.io/
MIT License
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Opposite results from Madgwick and AQUA #34

Open Yushchuk6 opened 3 years ago

Yushchuk6 commented 3 years ago

When used on the same reading Madgwick and AQUA produce opposite results. This causes spinning in opposite directions.

I can guess that it is just how filters implementation works, but it would be nice if all filters produced the same result. It should be easy to fix just by flipping the XYZ quaternion result for one on the filters.

Also, didn't test but it is possible that there are more filters that produce one of two results.

Example of rotation: AQUA [0.92532097 0.3791205 0.00524886 0.00460348] Madgwick [ 0.92497363 -0.3799769 -0.00416885 -0.00489403]

Image example: bug

Mayitzin commented 3 years ago

Thanks for pointing this out. I think I'll make some big benchmark for all estimators and try to find more discrepances like this. Once I find the reason for such an inverted rotation I'll get back to you. Thanks again!