Refactor mahony functions #432

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MrUnknownDE · 2026-04-05T17:52:59+02:00

MrUnknownDE commented

2026-04-05 17:52:59 +02:00

Originally created by @deiteris on 2/3/2022

Unify feedback term variables and integral feedback computation
Use the same variable naming for both functions and code style.
Pre-multiply deltat once then apply gyro factors in function with magnetometer.
Use inverse square root function with a bit better precision (from the same source in comments).

*Originally created by @deiteris on 2/3/2022* 1. Unify feedback term variables and integral feedback computation 2. Use the same variable naming for both functions and code style. 3. Pre-multiply `deltat` once then apply gyro factors in function with magnetometer. 4. Use inverse square root function with a bit better precision (from the same source in comments).

MrUnknownDE closed this issue

2026-04-05 17:52:59 +02:00

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Reference: github/SlimeVR-Tracker-ESP#432