complementary.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_IMU_FILTER_COMPLEMENTARY_HPP
#define M5_UNIT_IMU_IMU_FILTER_COMPLEMENTARY_HPP
 
#include "filter_base.hpp"
 
namespace m5 {
namespace imu {
 
class ComplementaryFilter : public AhrsFilterBase {
public:
    ComplementaryFilter() = default;
 
    virtual void reset() override;
    virtual void update(const float dt, const float accel[3], const float gyro[3], const float* mag) override;
    virtual void quaternion(float& w, float& x, float& y, float& z) const override;
 
    bool writeAlpha(const float alpha);
    inline float readAlpha() const
    {
        return _alpha;
    }
 
private:
    float _alpha{0.98f};  // Blend factor (weight of the gyro-integrated angle)
    float _roll{};        // Current roll estimate (deg)
    float _pitch{};       // Current pitch estimate (deg)
    float _yaw{};         // Current yaw estimate (deg)
};
 
}  // namespace imu
}  // namespace m5
#endif