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jmagnuson / ahrs-rs

A Rust port of Madgwick's AHRS algorithm
MIT License
33 stars 19 forks source link

Update dependencies to latest versions #28

Closed AdrianEddy closed 2 years ago

AdrianEddy commented 2 years ago

This PR updates all dependencies to the latest versions, mainly nalgebra to 0.29

AdrianEddy commented 2 years ago

hmm looks like the tests fail to build when using cargo test --no-default-features. Using just cargo test it seems to work fine though.

Could someone look into the traits issue? I'm not very familiar with simba and its traits

jmagnuson commented 2 years ago

Appending

features = ["libm-force"]

to thenalgebra entry should fix the 

    = note: the following trait bounds were not satisfied:
            `f64: RealField`
            which is required by `Mahony<f64>: Ahrs<f64>`

error in CI.

I'm not too familiar with simba either, but from https://github.com/dimforge/simba/pull/10, sounds like there are some potential perf gains by not pulling in libm in a no-std scenario. But I don't currently have time to dive in to see if ahrs's use-case is compatible with that setup, and it looks like simba was previously pulling in libm already.

AdrianEddy commented 2 years ago

Ok so since the libm was already pulled in, do you think we can just add the features = ["libm-force"] here and merge it like that?

jmagnuson commented 2 years ago

Yep, I think that's reasonable.

jmagnuson commented 2 years ago

LGTM, thanks!