A Rust implementation of the Versatile Quaternion-based Filter (VQF) algorithm, as described in this paper.
Note
Currently this crate does not implement the magnometer update.
use nalgebra::Vector3;
use std::time::Duration;
use vqf::{Vqf, VqfParameters};
let gyro_rate = Duration::from_secs_f32(0.01); // 100Hz
let accel_rate = Duration::from_secs_f32(0.01);
let params = VqfParameters::default();
let mut vqf = Vqf::new(gyro_rate, accel_rate, params);
let gyro_data = Vector3::new(0.01, 0.02, -0.01); // rad/s
let accel_data = Vector3::new(0.0, 0.0, 9.81); // m/s^2
vqf.update(gyro_data, accel_data);
let orientation = vqf.orientation();
println!("Current orientation: {:?}", orientation);