1. Removed the quaternion class and replaced it with numpy quaternion library
2. MadgwickM.py includes a modified filter where orientation estimate from M&G fields is TRIAD-like - magnetomter only affects yaw

More information on the algorithm can be found at http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/.

This implementation was done at the Cognitive Systems Lab (CSL) of the Karlsruhe Institute of Technology: http://csl.anthropomatik.kit.edu/

• Python 3.x (tested with Python 3.4)
• NumPy
• numpy quaternion https://github.com/moble/quaternion

Copyright (c) 2015 Jonas Böer, jonas.boeer@student.kit.edu

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this program. If not, see http://www.gnu.org/licenses/.