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There is a new Filter available which is called the VQF Filter, it outperforms the Madgwick or Mahony Filter.
See
https://arxiv.org/abs/2203.17024
There is also a nice pyhton, c++ and matlab implementation available here:
https://github.com/dlaidig/vqf
is it possible to integrate the VQF filter in to the ahrs toolbox?
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