AttitudeMahonyFilterParameters struct
#include <iDynTree/AttitudeMahonyFilter.h>
set up the quaternion EKF
Public variables
- double time_step_in_seconds
- discretization time step in seconds, default value:
- double kp
- Mahony gain over the correction from IMU measurements, default value: .
- double ki
- Mahony gain over the gyro bias evolution, default value: .
- bool use_magnetometer_measurements
- double confidence_magnetometer_measurements
- confidence on magnetometer measurements, default value: