Restore Fusion (Madgwick) AHRS as default alongside VQF#394
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JanuszBedkowski merged 3 commits intoMapsHD:mainfrom Mar 9, 2026
Merged
Restore Fusion (Madgwick) AHRS as default alongside VQF#394JanuszBedkowski merged 3 commits intoMapsHD:mainfrom
JanuszBedkowski merged 3 commits intoMapsHD:mainfrom
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Re-add Fusion library that was removed in PR MapsHD#391 (VQF migration). Fusion is now the default AHRS (use_vqf=false), with VQF available as an alternative via GUI toggle or TOML parameter. - Add use_vqf bool and fusion_gain params to LidarOdometryParams - Dual AHRS path in calculate_trajectory() and alternative_approach() - GUI: conditional display of Fusion/VQF params based on toggle - TOML: backward compatible (missing keys use struct defaults) - Re-activate Fusion submodule and CMake integration
Per-worker orientation estimation now uses Fusion or VQF based on use_vqf toggle, instead of always using VQF. - Rename enum: *_vqf_vel -> *_ahrs_vel (int values 5-7 unchanged) - Add use_vqf, fusion_gain, fusion_convention to IntegrationParams - Add Fusion include/link to core CMakeLists
- Seed Fusion AHRS with initial orientation from trajectory (no cold start) - Pass gyro bias estimated from stationary samples to per-worker Fusion - Add gyro_bias_dps to IntegrationParams and estimated_gyro_bias_dps to LidarOdometryParams (runtime only, not saved to TOML) - VQF per-worker unchanged (kept original behavior)
Jakubach
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Mar 9, 2026
PR MapsHD#394 added #include <Fusion.h> to lidar_odometry_utils.h, but targets like concatenate_multi_livox and mandeye_raw_data_viewer don't have Fusion in their CMake include paths, causing build failures. Move #include <Fusion.h> to lidar_odometry.cpp (which actually uses Fusion types) and add Fusion include/link to mandeye_raw_data_viewer CMakeLists.
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Summary
use_vqftoggle in GUI or TOML configuse_vqf/fusion_gainload correctly with struct defaults (Fusion enabled, gain=0.5)Changes
3rdparty/Fusionsubmodule re-activatedCMakeLists.txt: Fusion subdirectory addedlidar_odometry_utils.h:use_vqf(default false) andfusion_gain(default 0.5) paramslidar_odometry.cpp: dual AHRS path incalculate_trajectory()lidar_odometry_gui.cpp+precision_forestry.cpp: conditional GUI for Fusion/VQF paramstoml_io.h: new params registered in POINTERS and CATEGORIESlidar_odometry_step_1,precision_forestry) compile and link correctlyTest plan