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Added imu preintegration and migrated from Madgwick to VQF algorithm for orientation estimation - #391

Merged

JanuszBedkowski merged 13 commits into

MapsHD:mainfrom

Jakubach:imu_preintegration

Mar 8, 2026

Merged

Added imu preintegration and migrated from Madgwick to VQF algorithm for orientation estimation#391
JanuszBedkowski merged 13 commits into
MapsHD:mainfrom
Jakubach:imu_preintegration

Commits on Mar 2, 2026
- Add IMU preintegration with multiple integration methods
  Jakubach
  committed
  c750f24
- Add AHRS preintegration methods
  Jakubach
  committed
  56e3440
- Replace complementary filter with Fusion AHRS
  Jakubach
  committed
  dc1b5ee
- Fix Kalman filter: use velocity observation instead of bias observation
  Jakubach
  committed
  5c41060
Commits on Mar 8, 2026