Add frequency input to Mahony AHRS algortihm #115
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TinyuZhao
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Hi, the actual implementation of the Mahony filter is working with a fixed frequency of 25Hz (sampleFreq, defined in src/utility/MahonyAHRS.cpp) and it returns innacurate values when the system is calling the filter in a different rate.
This patch adds an input for the acquisition frequency, giving more accurate sensor readings when the correct frequency is given.
here is a code using this feature:
https://github.com/gustavolaureano/updated_balac_pid