Fuses a drifting rate, such as a gyroscope's, with a noisy absolute reading, such as an accelerometer's tilt, into one steady estimate.
Creates a filter. alpha is the weight on the integrated rate, held to 0 to 1: near 1 trusts the rate and corrects slowly. One that is not a number is taken as 0.
alpha
The current estimate.
Fuses a rate and an absolute reading over dt and returns the estimate. If any of the three is not a finite number, the update is ignored.
dt
Fuses a drifting rate, such as a gyroscope's, with a noisy absolute reading, such as an accelerometer's tilt, into one steady estimate.