Added imu preintegration and migrated from Madgwick to VQF algorithm for orientation estimation#391
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JanuszBedkowski merged 13 commits intoMapsHD:mainfrom Mar 8, 2026
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Swap out the Fusion complementary filter for VQF (Versatile Quaternion-based Filter) across all apps and core IMU preintegration. VQF provides better out-of-the-box accuracy with gyroscope bias estimation and a more robust inclination correction approach.
Direction from VQF AHRS heading, speed from IMU preintegration displacement of previous worker.
- All VQF params (bias estimation, rest detection, magnetometer) exposed with tooltips based on VQF paper descriptions - Magnetometer params hidden behind "Use magnetometer" checkbox - Refactored calculate_trajectory() to take LidarOdometryParams - Clearer preintegration method names in GUI - Added buildVQFParams() helper for consistent VQF initialization
Jakubach
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Mar 9, 2026
Re-add Fusion library that was removed in PR MapsHD#391 (VQF migration). Fusion is now the default AHRS (use_vqf=false), with VQF available as an alternative via GUI toggle or TOML parameter. - Add use_vqf bool and fusion_gain params to LidarOdometryParams - Dual AHRS path in calculate_trajectory() and alternative_approach() - GUI: conditional display of Fusion/VQF params based on toggle - TOML: backward compatible (missing keys use struct defaults) - Re-activate Fusion submodule and CMake integration
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https://github.com/dlaidig/vqf
https://arxiv.org/abs/2203.17024