Discussions

Madgwick IMU/AHRS and Fast Inverse Square Root

Posted by Tobias Simon on November 2, 2012 at 3:48am

Hi Everyone,

I'm currently using Madgwick's popular filter for my own AHRS project. After some experimentation with sensors and adjusting the beta gain, I've noticed some unpredictable behavior of the filter. For example, euler angles computed from the quaternion changed unexpectedly to 20 degrees off the reference angle (in a static scenario!).

After setting the magnetometer input to (0,0,0) the problem stayed the same. Then I removed the gyroscope inputs (0,0,0) and the problem stayed the same. My conclusion was that it must have been related to the accelerometer inputs.

After experimenting with real sensors I moved to artificial ACC input data and set up a test bed for Madgwick's algorithm (MadgwickTests on GitHub). I've figured out that in Madgwick's algorithm the fast inverse square root leads to huge instabilities when noisy measurements are applied. As an example, consider the pitch and roll angles shown in the following image:

results.png?width=579The input for the filter was: gyro = (0,0,0), acc = (2.5, 2.5, 9.15)  +- 0.1 uniform noise (see test.c for details). As you can see, the pitch and roll angles (red/green, in degrees) of the original implementation show unacceptable variations.

Remarkably more stable and accurate pitch/roll angles (blue/magenta) were achieved by exchanging the inverse square root implementation. I used  the following code from Accurate and Fast InvSqrt for computing the inverse square root of float x:

unsigned int i = 0x5F1F1412 - (*(unsigned int*)&x >> 1);
float tmp = *(float*)&i;
float y = tmp * (1.69000231f - 0.714158168f * x * tmp * tmp);

Please see the GitHub commit in which I've added some code for switching between the original (0), the proposed (1) and the reference (2) inverse square root implementations.
I hope that my investigations are helpful to improve the accuracy of Madgwick's C filter implementation.

Cheers, Tobias

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Tags: ahrs, imu, madgwick
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Replies

  • Pavan Chinta April 14, 2017 at 7:52am

    Hi Thomas:

    I have fixed my error by changing the part where I calculate the orientation angles. It turns out I was estimating dT for accelerometer and magnetometer while it should only have been applied to gyroscope. I'll leave it at that for now...

    Thomas Guldborg said:

    Hello Paven Chinta

    Have you calibrated your magnetometer?

  • Thomas Solley April 4, 2017 at 9:24am

    Serge,

    I can't give the details or the data, as I'm under an NDA---but suffice to say, in our testing here at PAS we encountered similar scaling defects to the positional data (due to accelerometer scaling, perhaps?), which was unable to be resolved from either open-source nor from manufacturer (Interstil)-given calibration instructions. Please feel free to message me directly to discuss this in more detail; we are still at something of a loss, and are considering a custom hardware-software solution.

  • Serge Belotsky March 31, 2017 at 1:59am

    Hello!

    I'm using free-running IMU device based on LSM6DS3 (gyro and accelerometer) and LIS3MDL (magnetometer).

    LSM6DS3 are configured for 2000 °/s (gyro) and 16G (accerometer). LIS3MDL are configured for 4 gauss range.

    Magnetometer are calibrated using Magneto algorithm.

    Data from chips are collected and saved to flash memory with high speed (up to 250 samples/s). After data reading I calculate trajectory using some Madgwick algorithm (MadgwickAHRSupdate (gyro, accelerometer and magnetometer) or MadgwickAHRSupdateIMU (gyro, accelerometer only). For all cases I'm using for factor Beta=0.041 value.

    Below I apply the screenshots for same device trajectory.

    The first trajectory path was built usung gyro and accelerometer data.

    3702364727?profile=originalThe second trajectory path was built using gyro, accelerometer and magnetometer data with using magnetometer calibration correction.

    3702364741?profile=original

    The third trajectory path was built using gyro, accelerometer and magnetometer data without magnetometer correction.

    3702364639?profile=originalThe device path are created on the small place inside a tower building (concrete, steel and glass construction) on high floor.

    I have done the experiment some times and have got the similar results. I confused this results and I can't understand why Madgwick algorithm using magnetometer data (MadgwickAHRSupdate) works so bad.

    I have applied all last changes in the algorithm except listed below (_bx and _bz are single not a half). Hovever I have tried both variants (my variant are better fit).

       _bx = sqrt(hx * hx + hy * hy);
       _bz  = -_2q0mx * q.y + _2q0my * q.x + m1.z * q0q0 + _2q1mx * q.z - m1.z * q1q1 + _2q2 * m1.y * q.z - m1.z * q2q2 + m1.z * q3q3;

    I'm simply an engineer not a scientist, and I can't understand Mangwick original article algorihm for checking.

    Could anybody help me or explain at least where I'm do wrong. I have checked the formulas some times in the source code and not found any differens (except notation above).

    PS: The calibration magnetometer sphere (after correction using matrice calulated using Magneto program) posted below.

    3702364597?profile=original

    SY, Serge B.

  • Thomas Guldborg March 15, 2017 at 9:33am

    Hello Paven Chinta

    Have you calibrated your magnetometer?

  • Pavan Chinta February 5, 2017 at 9:10pm

    Hi Jeroen van de Mortel:

    I'm trying to implement the Magdwick filter on on my android glasses; however, I see a VERY large overshoot in the output when the glasses are subject to external acceleration... Here's what I have done so far:

    i) Ensured all three axes are aligned

    ii) Corrected the equations for s0 s1 s2 s3 based on the error you had found in the C-code

    iii) Changed the inverse square root to a regular math function

    Here's my code from Android. If there are ANY pointers you can give me, I would really really appreciate it. I was about to subtract the static error from the sensor data (which I didn't in the code I posted)...

    package erau.efrc.getorientation;

    import android.app.Activity;
    import android.content.Intent;
    import android.os.Bundle;
    import android.view.View;
    import android.view.WindowManager;
    import android.widget.Button;
    import android.widget.TextView;
    import android.hardware.Sensor;
    import android.hardware.SensorEvent;
    import android.hardware.SensorEventListener;
    import android.hardware.SensorManager;

    public class DisplayAttitude extends Activity implements SensorEventListener{

        // Display-Object
        TextView textAngles = null;
        TextView betaValue = null;
        Button goBack = null;
        Button increaseBeta = null;
        Button decreaseBeta = null;

        // Sensor Manager
        private SensorManager mSensorManager = null;

        // Sensors
        Sensor gravity = null;
        Sensor magnetometer = null;
        Sensor gyroscope = null;

        private final float NS2S = 1.0f / 1000000000.0f; // Nano-seconds to seconds
        private float timestamp = 0.0f;
        private float dT = 0.0f;

        // Initial beta value
        private final float initBeta = 2.5f;
        private final float finalBeta = 0.01f;    // Found the filter gain emperically,
        // needs to be optimized for vehicle accelerations
        private final float initDuration = 15f;     // Amount of time (seconds) initBeta must be used
        private boolean initComplete = false;
        private float beta = initBeta;
        private final float betaIncrement = 0.01f;

        // Save timestamp when the program starts up
        private float initTime;

        // Sensor-Measurements
        float[] mGravity = new float[3];
        float[] mGeomagnetic = new float[3];
        float[] mGyro = new float[3];
        float[] gyroBias = new float[3];
        private int gyroBiasCount = 0;
        private final int gyroBiasEst = 500;

        // Orientation
        float q0 = 1f, q1 = 0f, q2 = 0f, q3 = 0f;

        // Define SENSOR_DELAY
        private int SENSOR_DELAY = SensorManager.SENSOR_DELAY_FASTEST;

        private void getSensors() {
            gravity = mSensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY);
            magnetometer = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
            gyroscope = mSensorManager.getDefaultSensor(Sensor.TYPE_GYROSCOPE);
        }

        private void registerSensorListeners() {
            mSensorManager.registerListener(this, gravity, SENSOR_DELAY);
            mSensorManager.registerListener(this, magnetometer, SENSOR_DELAY);
            mSensorManager.registerListener(this, gyroscope, SENSOR_DELAY);
        }

        @Override
        protected void onCreate(Bundle savedInstanceState) {
            super.onCreate(savedInstanceState);
            setContentView(R.layout.display_attitude);

            this.getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN,
                    WindowManager.LayoutParams.FLAG_FULLSCREEN);

            /* Initialize everything */
            textAngles = (TextView) findViewById(R.id.textAngles);
            goBack = (Button) findViewById(R.id.bGoBack);
            betaValue = (TextView) findViewById(R.id.betaValue);
            increaseBeta = (Button) findViewById(R.id.bIncreaseBeta);
            decreaseBeta = (Button) findViewById(R.id.bDecreaseBeta);

            increaseBeta.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View v) {
                    beta += betaIncrement;
                    betaValue.setText(getBeta());
                }
            });

            decreaseBeta.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View view) {
                    beta -= betaIncrement;
                    betaValue.setText(getBeta());
                }
            });

            mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);

            getSensors();

            registerSensorListeners();
        }

        public void AttitudeToMainClick(View view) {
            if(view.getId() == R.id.bGoBack) {
                finish();
            }
        }

        @Override
        protected void onResume() {
            super.onResume();
            registerSensorListeners();
        }

        @Override
        protected void onRestart() {
            super.onRestart();
            registerSensorListeners();
        }

        @Override
        protected void onPause() {
            mSensorManager.unregisterListener(this);
            super.onPause();
        }

        @Override
        protected void onStop() {
            mSensorManager.unregisterListener(this);
            super.onStop();
        }

        @Override
        protected void onDestroy() {
            mSensorManager.unregisterListener(this);
            super.onDestroy();
        }

        public void onAccuracyChanged(Sensor sensor, int accuracy) {
        }

        public void onSensorChanged(SensorEvent event) {

            if(initTime == 0.0f) {
                initTime = event.timestamp;
                betaValue.setText(getBeta());
            }

            // Change beta value if initBetaDuration is reached
            if(initComplete == false && (event.timestamp - initTime) * NS2S >= initDuration) {
                beta = finalBeta;
                betaValue.setText(getBeta());
                initComplete = true;
            }

            /* Remap the coordinate system so that X-Axis is along line-of-sight,
               Y-Axis is to the right and Z-Axis is down */
            float[] remappedValues = new float[3];
            boolean remapResult = remapVector(event.values, remappedValues, SensorManager.AXIS_MINUS_Z,
                    SensorManager.AXIS_X, SensorManager.AXIS_MINUS_Y);

            if(remapResult == true) {

                if (event.sensor.getType() == Sensor.TYPE_GRAVITY) {
                    mGravity = remappedValues;
                }

                if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
                    mGeomagnetic = remappedValues;
                }

                if (event.sensor.getType() == Sensor.TYPE_GYROSCOPE) {
                    if(timestamp != 0.0f) {
                        dT = ( event.timestamp - timestamp ) * NS2S;
                        mGyro = remappedValues;
                    }

                    timestamp = event.timestamp;
                }

                //boolean success = MadgwickAHRSupdate(mGyro[0], mGyro[1], mGyro[2],
                //        mGravity[0], mGravity[1], mGravity[2],
                //        mGeomagnetic[0], mGeomagnetic[1], mGeomagnetic[2]);


                boolean success = MadgwickAHRSupdateIMU(mGyro[0], mGyro[1], mGyro[2],
                        mGravity[0], mGravity[1], mGravity[2]);

                if(success) {

                    // Formulas are obtained from https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Eu...
                    double heading = Math.toDegrees((Math.atan2(2f * (q0 * q3 + q1 * q2), 1f - 2f * (q1 * q1 + q3 * q3))));
                    double pitch = Math.toDegrees(Math.asin(2f * (q0*q2 - q3*q1)));
                    double roll = Math.toDegrees(Math.atan2(2f * (q0*q1 + q2*q3), 1f - 2f * (q1*q1 + q2*q2)));

                    // Ensure heading is between 0 and 360 degrees
                    heading = 180 + heading;
                    // Ensure pitch is positive up
                    pitch = -pitch;
                    // Ensure roll is between -90 and +90
                    roll = roll < 0 ? (180+roll) : (roll-180);

                    // Display orientation
                    System.out.println("Roll: " + String.format("%.1f", roll)
                            + " Pitch: " + String.format("%.1f",pitch)
                            + " Yaw: " + String.format("%.1f", heading)
                            + " " + getBeta() + "\n");
                }
            }
        }

        private String getBeta() {

            return "Beta: " + String.format("%.3f", beta);
        }

        private boolean remapVector(float[] inVector, float[] outVector, int X, int Y, int Z) {
            final int VECTOR_SIZE = 3;

            // Return false if any duplicates exist
            if(X == Y || Y == Z || X == Z) {
                return false;
            }

            // Return false if the vectors are not 3-dimensional
            if(inVector.length != VECTOR_SIZE || outVector.length != VECTOR_SIZE) {
                return false;
            }

            switch (X){
                case SensorManager.AXIS_X:
                    outVector[0] = inVector[0];
                    break;

                case SensorManager.AXIS_MINUS_X:
                    outVector[0] = -inVector[0];
                    break;

                case SensorManager.AXIS_Y:
                    outVector[0] = inVector[1];
                    break;

                case SensorManager.AXIS_MINUS_Y:
                    outVector[0] = -inVector[1];
                    break;

                case SensorManager.AXIS_Z:
                    outVector[0] = inVector[2];
                    break;

                case SensorManager.AXIS_MINUS_Z:
                    outVector[0] = -inVector[2];
                    break;

                /* Return false if an invalid axis parameter is passed */
                default:
                    return false;
            }

            switch (Y) {
                case SensorManager.AXIS_X:
                    outVector[1] = inVector[0];
                    break;

                case SensorManager.AXIS_MINUS_X:
                    outVector[1] = -inVector[0];
                    break;

                case SensorManager.AXIS_Y:
                    outVector[1] = inVector[1];
                    break;

                case SensorManager.AXIS_MINUS_Y:
                    outVector[1] = -inVector[1];
                    break;

                case SensorManager.AXIS_Z:
                    outVector[1] = inVector[2];
                    break;

                case SensorManager.AXIS_MINUS_Z:
                    outVector[1] = -inVector[2];
                    break;

                /* Return false if an invalid axis parameter is passed */
                default:
                    return false;
            }

            switch (Z) {
                case SensorManager.AXIS_X:
                    outVector[2] = inVector[0];
                    break;

                case SensorManager.AXIS_MINUS_X:
                    outVector[2] = -inVector[0];
                    break;

                case SensorManager.AXIS_Y:
                    outVector[2] = inVector[1];
                    break;

                case SensorManager.AXIS_MINUS_Y:
                    outVector[2] = -inVector[1];
                    break;

                case SensorManager.AXIS_Z:
                    outVector[2] = inVector[2];
                    break;

                case SensorManager.AXIS_MINUS_Z:
                    outVector[2] = -inVector[2];
                    break;

                /* Return false if an invalid axis parameter is passed */
                default:
                    return false;
            }

            return true;
        }

        private boolean MadgwickAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
            float recipNorm;
            float s0, s1, s2, s3;
            float qDot1, qDot2, qDot3, qDot4;
            float hx, hy;
            float _2q0mx, _2q0my, _2q0mz, _2q1mx, _2bx, _2bz, _4bx, _4bz, _8bx, _8bz,  _2q0, _2q1, _2q2,
                    _2q3, q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;

            // Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation)
            if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
                return MadgwickAHRSupdateIMU(gx, gy, gz, ax, ay, az);
            }

            // Rate of change of quaternion from gyroscope
            qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
            qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
            qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
            qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);

            // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
            if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {

                // Normalise accelerometer measurement
                recipNorm = 1f / (float) Math.sqrt(ax * ax + ay * ay + az * az);
                ax *= recipNorm;
                ay *= recipNorm;
                az *= recipNorm;

                // Normalise magnetometer measurement
                recipNorm = 1f / (float) Math.sqrt(mx * mx + my * my + mz * mz);
                mx *= recipNorm;
                my *= recipNorm;
                mz *= recipNorm;

                // Auxiliary variables to avoid repeated arithmetic
                _2q0mx = 2.0f * q0 * mx;
                _2q0my = 2.0f * q0 * my;
                _2q0mz = 2.0f * q0 * mz;
                _2q1mx = 2.0f * q1 * mx;
                _2q0 = 2.0f * q0;
                _2q1 = 2.0f * q1;
                _2q2 = 2.0f * q2;
                _2q3 = 2.0f * q3;
                q0q0 = q0 * q0;
                q0q1 = q0 * q1;
                q0q2 = q0 * q2;
                q0q3 = q0 * q3;
                q1q1 = q1 * q1;
                q1q2 = q1 * q2;
                q1q3 = q1 * q3;
                q2q2 = q2 * q2;
                q2q3 = q2 * q3;
                q3q3 = q3 * q3;

                // Reference direction of Earth's magnetic field
                hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
                hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
                _2bx = (float) Math.sqrt(hx * hx + hy * hy);
                _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
                _4bx = 2.0f * _2bx;
                _4bz = 2.0f * _2bz;
                _8bz = 2.0f * _4bz;
                _8bx = 2.0f * _2bx;

                // Gradient decent algorithm corrective step
                s0 = -_2q2 * (2 * (q1q3 - q0q2) - ax) + _2q1 * (2 * (q0q1 + q2q3) - ay) -_4bz * q2 * (_4bx * (0.5f - q2q2 - q3q3) + _4bz * (q1q3 - q0q2) - mx) + (-_4bx * q3 + _4bz * q1) * (_4bx * (q1q2 - q0q3) + _4bz * (q0q1 + q2q3) - my) + _4bx * q2 * (_4bx * (q0q2 + q1q3) + _4bz * (0.5f - q1q1 - q2q2) - mz);
                s1 = _2q3 * (2 * (q1q3 - q0q2) - ax) + _2q0 * (2 * (q0q1 + q2q3) - ay) -4 * q1 * (2 * (0.5f - q1q1 - q2q2) - az) + _4bz * q3 * (_4bx * (0.5f - q2q2 - q3q3) + _4bz * (q1q3 - q0q2) - mx) + (_4bx * q2 + _4bz * q0) * (_4bx * (q1q2 - q0q3) + _4bz * (q0q1 + q2q3) - my) + (_4bx * q3 - _8bz * q1) * (_4bx * (q0q2 + q1q3) + _4bz * (0.5f - q1q1 - q2q2) - mz);
                s2 = -_2q0*(2*(q1q3 - q0q2) - ax)    +     _2q3*(2*(q0q1 + q2q3) - ay)   +   (-4*q2)*(2*(0.5f - q1q1 - q2q2) - az) +   (-_8bx*q2-_4bz*q0)*(_4bx*(0.5f - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(_4bx*q1+_4bz*q3)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q0-_8bz*q2)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5f - q1q1 - q2q2) - mz);
                s3 = _2q1*(2*(q1q3 - q0q2) - ax) +   _2q2*(2*(q0q1 + q2q3) - ay)+(-_8bx*q3+_4bz*q1)*(_4bx*(0.5f - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(-_4bx*q0+_4bz*q2)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5f - q1q1 - q2q2) - mz);
                recipNorm = 1f / (float) Math.sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
                s0 *= recipNorm;
                s1 *= recipNorm;
                s2 *= recipNorm;
                s3 *= recipNorm;

                // Apply feedback step
                qDot1 -= beta * s0;
                qDot2 -= beta * s1;
                qDot3 -= beta * s2;
                qDot4 -= beta * s3;
            }

            // Integrate rate of change of quaternion to yield quaternion
            q0 += qDot1 * dT;
            q1 += qDot2 * dT;
            q2 += qDot3 * dT;
            q3 += qDot4 * dT;

            // Normalise quaternion
            recipNorm = 1f / (float) Math.sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
            q0 *= recipNorm;
            q1 *= recipNorm;
            q2 *= recipNorm;
            q3 *= recipNorm;

            return true;
        }

    //---------------------------------------------------------------------------------------------------
    // IMU algorithm update

        private boolean MadgwickAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) {
            float recipNorm;
            float s0, s1, s2, s3;
            float qDot1, qDot2, qDot3, qDot4;
            float _2q0, _2q1, _2q2, _2q3, _4q0, _4q1, _4q2 ,_8q1, _8q2, q0q0, q1q1, q2q2, q3q3;

            // Rate of change of quaternion from gyroscope
            qDot1 = 0.5f * (-q1 * gx - q2 * gy - q3 * gz);
            qDot2 = 0.5f * (q0 * gx + q2 * gz - q3 * gy);
            qDot3 = 0.5f * (q0 * gy - q1 * gz + q3 * gx);
            qDot4 = 0.5f * (q0 * gz + q1 * gy - q2 * gx);

            // Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
            if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {

                // Normalise accelerometer measurement
                recipNorm = 1f / (float) Math.sqrt(ax * ax + ay * ay + az * az);
                ax *= recipNorm;
                ay *= recipNorm;
                az *= recipNorm;

                // Auxiliary variables to avoid repeated arithmetic
                _2q0 = 2.0f * q0;
                _2q1 = 2.0f * q1;
                _2q2 = 2.0f * q2;
                _2q3 = 2.0f * q3;
                _4q0 = 4.0f * q0;
                _4q1 = 4.0f * q1;
                _4q2 = 4.0f * q2;
                _8q1 = 8.0f * q1;
                _8q2 = 8.0f * q2;
                q0q0 = q0 * q0;
                q1q1 = q1 * q1;
                q2q2 = q2 * q2;
                q3q3 = q3 * q3;

                // Gradient decent algorithm corrective step
                s0 = _4q0 * q2q2 + _2q2 * ax + _4q0 * q1q1 - _2q1 * ay;
                s1 = _4q1 * q3q3 - _2q3 * ax + 4.0f * q0q0 * q1 - _2q0 * ay - _4q1 + _8q1 * q1q1 + _8q1 * q2q2 + _4q1 * az;
                s2 = 4.0f * q0q0 * q2 + _2q0 * ax + _4q2 * q3q3 - _2q3 * ay - _4q2 + _8q2 * q1q1 + _8q2 * q2q2 + _4q2 * az;
                s3 = 4.0f * q1q1 * q3 - _2q1 * ax + 4.0f * q2q2 * q3 - _2q2 * ay;
                recipNorm = 1f / (float) Math.sqrt(s0 * s0 + s1 * s1 + s2 * s2 + s3 * s3); // normalise step magnitude
                s0 *= recipNorm;
                s1 *= recipNorm;
                s2 *= recipNorm;
                s3 *= recipNorm;

                // Apply feedback step
                qDot1 -= beta * s0;
                qDot2 -= beta * s1;
                qDot3 -= beta * s2;
                qDot4 -= beta * s3;
            }

            // Integrate rate of change of quaternion to yield quaternion
            q0 += qDot1 * dT;
            q1 += qDot2 * dT;
            q2 += qDot3 * dT;
            q3 += qDot4 * dT;

            // Normalise quaternion
            recipNorm = 1f / (float) Math.sqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
            q0 *= recipNorm;
            q1 *= recipNorm;
            q2 *= recipNorm;
            q3 *= recipNorm;

            return true;
        }
    }
  • Jeroen van de Mortel January 29, 2017 at 10:37pm

    Indeed the 6DOF C code is correct, but the C code of the 9DOF not. I found there was a difference between the matlab code an the optimized C code of the 9DOF.

    I don't know anything about the invsqrt.

    Keith Laidlaw said:

    Let me see if I have this correctly.

    If we want to use SM's C code for 6DOF (Mahony algorithm as I understand), the existing code is just fine.

    If we want to use his C code for 9DOF (his algorithm as I understand), the code has two known bugs:

      1. the two quoted in this reply (magnetometer and quaternion calcs)

      2. the one much earlier about invsqrt.

    Am I correct on both counts?

    Are there any other issues?


    Jeroen van de Mortel said:

    The code was indeed never updated by sebastian, I found there was an optimization error in de code which is opensource when using the compass version. There was only an error in the quaternion part.

    Thomas Solley said:

    You mention there has been some change to the code----yet two years later, it seems the source code has not been updated. In the versions of this C-code you claim to have found, was there any change to the Gyroscope Heading code? Your reference and samples discuss the Quaternion aspects of his code and not the Heading results...

    Jeroen van de Mortel said:

    These lines where changed in the code, sebastian emailed me that the code on the website was old and soon will be replaced by a new version.

    // Reference direction of Earth's magnetic field
    hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
    hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
    _2bx = sqrt(hx * hx + hy * hy);
    _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
    _4bx = 2.0f * _2bx;
    _4bz = 2.0f * _2bz;
    _8bx = 2.0f * _4bx;
    _8bz = 2.0f * _4bz;

    // Gradient decent algorithm corrective step
    s0= -_2q2*(2.0f*(q1q3 - q0q2) - ax)    +   _2q1*(2.0f*(q0q1 + q2q3) - ay)   +  -_4bz*q2*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   +   (-_4bx*q3+_4bz*q1)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)    +   _4bx*q2*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s1= _2q3*(2.0f*(q1q3 - q0q2) - ax) +   _2q0*(2.0f*(q0q1 + q2q3) - ay) +   -4.0f*q1*(2.0f*(0.5 - q1q1 - q2q2) - az)    +   _4bz*q3*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   + (_4bx*q2+_4bz*q0)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)   +   (_4bx*q3-_8bz*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);             
    s2= -_2q0*(2.0f*(q1q3 - q0q2) - ax)    +     _2q3*(2.0f*(q0q1 + q2q3) - ay)   +   (-4.0f*q2)*(2.0f*(0.5 - q1q1 - q2q2) - az) +   (-_8bx*q2-_4bz*q0)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(_4bx*q1+_4bz*q3)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q0-_8bz*q2)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s3= _2q1*(2.0f*(q1q3 - q0q2) - ax) +   _2q2*(2.0f*(q0q1 + q2q3) - ay)+(-_8bx*q3+_4bz*q1)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(-_4bx*q0+_4bz*q2)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);

  • Keith Laidlaw January 28, 2017 at 1:17pm

    Let me see if I have this correctly.

    If we want to use SM's C code for 6DOF (Mahony algorithm as I understand), the existing code is just fine.

    If we want to use his C code for 9DOF (his algorithm as I understand), the code has two known bugs:

      1. the two quoted in this reply (magnetometer and quaternion calcs)

      2. the one much earlier about invsqrt.

    Am I correct on both counts?

    Are there any other issues?


    Jeroen van de Mortel said:

    The code was indeed never updated by sebastian, I found there was an optimization error in de code which is opensource when using the compass version. There was only an error in the quaternion part.

    Thomas Solley said:

    You mention there has been some change to the code----yet two years later, it seems the source code has not been updated. In the versions of this C-code you claim to have found, was there any change to the Gyroscope Heading code? Your reference and samples discuss the Quaternion aspects of his code and not the Heading results...

    Jeroen van de Mortel said:

    These lines where changed in the code, sebastian emailed me that the code on the website was old and soon will be replaced by a new version.

    // Reference direction of Earth's magnetic field
    hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
    hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
    _2bx = sqrt(hx * hx + hy * hy);
    _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
    _4bx = 2.0f * _2bx;
    _4bz = 2.0f * _2bz;
    _8bx = 2.0f * _4bx;
    _8bz = 2.0f * _4bz;

    // Gradient decent algorithm corrective step
    s0= -_2q2*(2.0f*(q1q3 - q0q2) - ax)    +   _2q1*(2.0f*(q0q1 + q2q3) - ay)   +  -_4bz*q2*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   +   (-_4bx*q3+_4bz*q1)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)    +   _4bx*q2*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s1= _2q3*(2.0f*(q1q3 - q0q2) - ax) +   _2q0*(2.0f*(q0q1 + q2q3) - ay) +   -4.0f*q1*(2.0f*(0.5 - q1q1 - q2q2) - az)    +   _4bz*q3*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   + (_4bx*q2+_4bz*q0)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)   +   (_4bx*q3-_8bz*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);             
    s2= -_2q0*(2.0f*(q1q3 - q0q2) - ax)    +     _2q3*(2.0f*(q0q1 + q2q3) - ay)   +   (-4.0f*q2)*(2.0f*(0.5 - q1q1 - q2q2) - az) +   (-_8bx*q2-_4bz*q0)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(_4bx*q1+_4bz*q3)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q0-_8bz*q2)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s3= _2q1*(2.0f*(q1q3 - q0q2) - ax) +   _2q2*(2.0f*(q0q1 + q2q3) - ay)+(-_8bx*q3+_4bz*q1)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(-_4bx*q0+_4bz*q2)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);

  • Jeroen van de Mortel January 28, 2017 at 3:40am

    The code was indeed never updated by sebastian, I found there was an optimization error in de code which is opensource when using the compass version. There was only an error in the quaternion part.

    Thomas Solley said:

    You mention there has been some change to the code----yet two years later, it seems the source code has not been updated. In the versions of this C-code you claim to have found, was there any change to the Gyroscope Heading code? Your reference and samples discuss the Quaternion aspects of his code and not the Heading results...

    Jeroen van de Mortel said:

    These lines where changed in the code, sebastian emailed me that the code on the website was old and soon will be replaced by a new version.

    // Reference direction of Earth's magnetic field
    hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
    hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
    _2bx = sqrt(hx * hx + hy * hy);
    _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
    _4bx = 2.0f * _2bx;
    _4bz = 2.0f * _2bz;
    _8bx = 2.0f * _4bx;
    _8bz = 2.0f * _4bz;

    // Gradient decent algorithm corrective step
    s0= -_2q2*(2.0f*(q1q3 - q0q2) - ax)    +   _2q1*(2.0f*(q0q1 + q2q3) - ay)   +  -_4bz*q2*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   +   (-_4bx*q3+_4bz*q1)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)    +   _4bx*q2*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s1= _2q3*(2.0f*(q1q3 - q0q2) - ax) +   _2q0*(2.0f*(q0q1 + q2q3) - ay) +   -4.0f*q1*(2.0f*(0.5 - q1q1 - q2q2) - az)    +   _4bz*q3*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   + (_4bx*q2+_4bz*q0)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)   +   (_4bx*q3-_8bz*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);             
    s2= -_2q0*(2.0f*(q1q3 - q0q2) - ax)    +     _2q3*(2.0f*(q0q1 + q2q3) - ay)   +   (-4.0f*q2)*(2.0f*(0.5 - q1q1 - q2q2) - az) +   (-_8bx*q2-_4bz*q0)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(_4bx*q1+_4bz*q3)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q0-_8bz*q2)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s3= _2q1*(2.0f*(q1q3 - q0q2) - ax) +   _2q2*(2.0f*(q0q1 + q2q3) - ay)+(-_8bx*q3+_4bz*q1)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(-_4bx*q0+_4bz*q2)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);

  • Thomas Solley January 25, 2017 at 6:49am

    You mention there has been some change to the code----yet two years later, it seems the source code has not been updated. In the versions of this C-code you claim to have found, was there any change to the Gyroscope Heading code? Your reference and samples discuss the Quaternion aspects of his code and not the Heading results...

    Jeroen van de Mortel said:

    These lines where changed in the code, sebastian emailed me that the code on the website was old and soon will be replaced by a new version.

    // Reference direction of Earth's magnetic field
    hx = mx * q0q0 - _2q0my * q3 + _2q0mz * q2 + mx * q1q1 + _2q1 * my * q2 + _2q1 * mz * q3 - mx * q2q2 - mx * q3q3;
    hy = _2q0mx * q3 + my * q0q0 - _2q0mz * q1 + _2q1mx * q2 - my * q1q1 + my * q2q2 + _2q2 * mz * q3 - my * q3q3;
    _2bx = sqrt(hx * hx + hy * hy);
    _2bz = -_2q0mx * q2 + _2q0my * q1 + mz * q0q0 + _2q1mx * q3 - mz * q1q1 + _2q2 * my * q3 - mz * q2q2 + mz * q3q3;
    _4bx = 2.0f * _2bx;
    _4bz = 2.0f * _2bz;
    _8bx = 2.0f * _4bx;
    _8bz = 2.0f * _4bz;

    // Gradient decent algorithm corrective step
    s0= -_2q2*(2.0f*(q1q3 - q0q2) - ax)    +   _2q1*(2.0f*(q0q1 + q2q3) - ay)   +  -_4bz*q2*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   +   (-_4bx*q3+_4bz*q1)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)    +   _4bx*q2*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s1= _2q3*(2.0f*(q1q3 - q0q2) - ax) +   _2q0*(2.0f*(q0q1 + q2q3) - ay) +   -4.0f*q1*(2.0f*(0.5 - q1q1 - q2q2) - az)    +   _4bz*q3*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)   + (_4bx*q2+_4bz*q0)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)   +   (_4bx*q3-_8bz*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);             
    s2= -_2q0*(2.0f*(q1q3 - q0q2) - ax)    +     _2q3*(2.0f*(q0q1 + q2q3) - ay)   +   (-4.0f*q2)*(2.0f*(0.5 - q1q1 - q2q2) - az) +   (-_8bx*q2-_4bz*q0)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(_4bx*q1+_4bz*q3)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q0-_8bz*q2)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);
    s3= _2q1*(2.0f*(q1q3 - q0q2) - ax) +   _2q2*(2.0f*(q0q1 + q2q3) - ay)+(-_8bx*q3+_4bz*q1)*(_4bx*(0.5 - q2q2 - q3q3) + _4bz*(q1q3 - q0q2) - mx)+(-_4bx*q0+_4bz*q2)*(_4bx*(q1q2 - q0q3) + _4bz*(q0q1 + q2q3) - my)+(_4bx*q1)*(_4bx*(q0q2 + q1q3) + _4bz*(0.5 - q1q1 - q2q2) - mz);

  • Long Le November 23, 2014 at 12:10am

    Hi everyone,

    I am applying Madgwick AHRS filter in Android in order to get the phone orientation (I used the source code in the published report). However, the output result seems to be not correct. For me it seems like there is a 90 degree rotation around the z axis (I just consider the yaw angle). I think the cause of this problem is the difference of used coordinate system. 

    The coordinate system described in Android phone is as follow (as attached picture). Assume that a device is held in its default orientation, the X axis is horizontal and points to the right, the Y axis is vertical and points up, and the Z axis points toward the outside of the screen face. 

    Android also provide function getOrientation()  that represent device motion or device position relative to the earth. However, the output is too unstable. That the reason, I want to use Madgwick filter. But, I could not find any information about the coordinate system used in this filter. Could you please tell me the coordinate system (sensor frame) using in Madgwick and the Earth output coordinate from converting quaternion to Euler angles as formula  mentioned in the report.

    Sorry for this basis question. I appreciate for any input

    3701880225?profile=original

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