fdcavalcanti opened a new pull request, #2113:
URL: https://github.com/apache/nuttx-apps/pull/2113
## Summary
This PR adds support for the Madgwick Algorithm (Sensor Fusion Library) and
adds an example that uses this lib with the MPU6050.
The library is under Application Configuration -> Inertial Libraries Support
and requires MIT licenses to be enabled.
The example is available under Application Configuration -> Examples ->
Sensor Fusion Example.
On compilation, it downloads the Fusion library from Github and the header
files can be accessed using:
`#include "Fusion/Fusion.h""`
Next PRs should add board example and the example code will support other
IMUs.
Shout out to @acassis for helping to set up the library entries!
## Impact
New entry on Application Configuration and new example is available. This
can be useful for those who use NuttX to control drones.
## Testing
Testing works fine using MPU6050 on a Tiva-C development board.
I need some assistance on linter issues. Not sure how to solve the following
error due to the Fusion library naming convention:
```
root@DESKTOP-G6CVIMP:~/nuttxspace/nuttx# ./tools/checkpatch.sh -f
../nuttx-apps/examples/sensor_fusion/sensor_fusion_main.c
/root/nuttxspace/nuttx-apps/examples/sensor_fusion/sensor_fusion_main.c:78:2:
error: Mixed case identifier found
```
On `sensor_fusion_main.c`
```
FusionAhrs ahrs;
FusionAhrsInitialise(&ahrs);
```
Any ideas on how to fix this?
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