Improve code style and readability.

ahrs/filters/angular.py

@@ -372,7 +372,8 @@ def _compute_all(self):
         return Q
 
     def update(self, q: np.ndarray, gyr: np.ndarray, method: str = 'closed', order: int = 1, dt: float = None) -> np.ndarray:
-        """Update the quaternion estimation
+        """
+        Update the quaternion estimation
 
         Estimate quaternion :math:`\\mathbf{q}_{t+1}` from given a-priori
         quaternion :math:`\\mathbf{q}_t` with a given angular rate measurement

ahrs/filters/aqua.py

@@ -696,17 +696,17 @@ def adaptive_gain(gain: float, a_local: np.ndarray, t1: float = 0.1, t2: float =
     a_local : numpy.ndarray
         Measured local acceleration vector.
     t1 : float, default: 0.1
-        First threshold
+        First threshold.
     t2 : float, default: 0.2
-        Second threshold
+        Second threshold.
     g : float, default: 9.809196
         Reference gravitational acceleration in m/s^2. The estimated gravity in
         Munich, Germany (``9.809196``) is used as default reference value.
 
     Returns
     -------
     alpha : float
-        Gain factor
+        Gain factor.
 
     Examples
     --------
@@ -842,7 +842,8 @@ def _compute_all(self):
         return Q
 
     def Omega(self, x: np.ndarray) -> np.ndarray:
-        """Omega operator.
+        """
+        Omega operator.
 
         Given a vector :math:`\\mathbf{x}\\in\\mathbb{R}^3`, return a
         :math:`4\\times 4` matrix of the form:
@@ -892,7 +893,7 @@ def estimate(self, acc: np.ndarray, mag: np.ndarray = None) -> np.ndarray:
         Quaternion from Earth-Field Observations
 
         Algebraic estimation of a quaternion as a function of an observation of
-        the Earth's gravitational and magnetic fields.
+        the Earth's gravitational force and magnetic fields.
 
         It decomposes the quaternion :math:`\\mathbf{q}` into two auxiliary
         quaternions :math:`\\mathbf{q}_{\\mathrm{acc}}` and

ahrs/filters/ekf.py

@@ -873,8 +873,12 @@
 """
 
 import numpy as np
-from ..common.orientation import q2R, ecompass, acc2q
-from ..common.mathfuncs import cosd, sind, skew
+from ..common.orientation import q2R
+from ..common.orientation import ecompass
+from ..common.orientation import acc2q
+from ..common.mathfuncs import cosd
+from ..common.mathfuncs import sind
+from ..common.mathfuncs import skew
 
 class EKF:
     """
@@ -1017,7 +1021,7 @@ def _set_reference_frames(self, mref: float, frame: str = 'NED') -> None:
         # Magnetic Reference Vector
         if mref is None:
             # Local magnetic reference of Munich, Germany
-            from ..common.mathfuncs import MUNICH_LATITUDE, MUNICH_LONGITUDE, MUNICH_HEIGHT
+            from ..common.constants import MUNICH_LATITUDE, MUNICH_LONGITUDE, MUNICH_HEIGHT
             from ..utils.wmm import WMM
             wmm = WMM(latitude=MUNICH_LATITUDE, longitude=MUNICH_LONGITUDE, height=MUNICH_HEIGHT)
             self.m_ref = np.array([wmm.X, wmm.Y, wmm.Z]) if frame.upper() == 'NED' else np.array([wmm.Y, wmm.X, -wmm.Z])
@@ -1324,7 +1328,7 @@ def update(self, q: np.ndarray, gyr: np.ndarray, acc: np.ndarray, mag: np.ndarra
         if mag is not None:
             m_norm = np.linalg.norm(mag)
             if m_norm == 0:
-                raise ValueError(f"Invalid geomagnetic field. Its magnitude must be greater than zero.")
+                raise ValueError("Invalid geomagnetic field. Its magnitude must be greater than zero.")
             self.z = np.r_[a, mag/m_norm]
         self.R = np.diag(np.repeat(self.noises[1:] if mag is not None else self.noises[1], 3))
         # ----- Prediction -----

ahrs/filters/flae.py

@@ -334,7 +334,11 @@
 
 import warnings
 import numpy as np
-from ..common.mathfuncs import *
+from ..common.mathfuncs import cosd
+from ..common.mathfuncs import sind
+from ..common.constants import MUNICH_LATITUDE
+from ..common.constants import MUNICH_LONGITUDE
+from ..common.constants import MUNICH_HEIGHT
 
 warnings.filterwarnings('error')
 
@@ -352,7 +356,8 @@ def _assert_valid_method(method : str, valid_methods : list) -> None:
         raise ValueError(f"Given method '{method}' is not valid. Try '{joint_methods}'")
 
 class FLAE:
-    """Fast Linear Attitude Estimator
+    """
+    Fast Linear Attitude Estimator
 
     Parameters
     ----------

ahrs/filters/fqa.py

@@ -232,10 +232,12 @@
 """
 
 import numpy as np
-from ..common.constants import *
+from ..common.constants import MUNICH_LATITUDE
+from ..common.constants import MUNICH_LONGITUDE
+from ..common.constants import MUNICH_HEIGHT
 from ..common.orientation import q_prod, q_conj
 
-# Reference Observations in Munich, Germany
+# Reference Observations in Munich, Germany at current date
 from ..utils.wmm import WMM
 MAG = WMM(latitude=MUNICH_LATITUDE, longitude=MUNICH_LONGITUDE, height=MUNICH_HEIGHT).magnetic_elements
 

ahrs/filters/madgwick.py

@@ -517,7 +517,7 @@ def __init__(self, gyr: np.ndarray = None, acc: np.ndarray = None, mag: np.ndarr
             self.Q = self._compute_all()
 
     def _set_gain(self, **kwargs) -> None:
-        """Set the gain parameter"""
+        """Set the gain parameter."""
         self.gain_imu: float = kwargs.get('gain_imu', 0.033)
         self.gain_marg: float = kwargs.get('gain_marg', 0.041)
         self.gain: float = kwargs.get('beta')  # Setting gain with `beta` will be removed in the future.

ahrs/filters/mahony.py

@@ -271,7 +271,8 @@
 
 
 class Mahony:
-    """Mahony's Nonlinear Complementary Filter on SO(3)
+    """
+    Mahony's Nonlinear Complementary Filter on SO(3)
 
     If ``acc`` and ``gyr`` are given as parameters, the orientations will be
     immediately computed with method ``updateIMU``.

ahrs/filters/quest.py

@@ -202,9 +202,14 @@
 from typing import Union
 import numpy as np
 
-from ..common.mathfuncs import *
+from ..common.mathfuncs import cosd
+from ..common.mathfuncs import sind
+from ..common.constants import MUNICH_LATITUDE
+from ..common.constants import MUNICH_LONGITUDE
+from ..common.constants import MUNICH_HEIGHT
 from ..utils.wmm import WMM
 from ..utils.wgs84 import WGS
+
 # Reference Observations in Munich, Germany
 GRAVITY = WGS().normal_gravity(MUNICH_LATITUDE, MUNICH_HEIGHT)
 wmm = WMM(latitude=MUNICH_LATITUDE, longitude=MUNICH_LONGITUDE, height=MUNICH_HEIGHT)
@@ -280,7 +285,8 @@ def __init__(self, acc: np.ndarray = None, mag: np.ndarray = None, **kw):
             self.Q = self._compute_all()
 
     def _compute_all(self) -> np.ndarray:
-        """Estimate the quaternions given all data.
+        """
+        Estimate the quaternions given all data.
 
         Attributes ``acc`` and ``mag`` must contain data.
 
@@ -299,7 +305,8 @@ def _compute_all(self) -> np.ndarray:
         return np.array([self.estimate(self.acc[t], self.mag[t]) for t in range(num_samples)])
 
     def estimate(self, acc: np.ndarray, mag: np.ndarray) -> np.ndarray:
-        """Attitude Estimation.
+        """
+        Attitude Estimation.
 
         Parameters
         ----------

ahrs/filters/triad.py

@@ -243,7 +243,11 @@
 
 import numpy as np
 from ..common.orientation import chiaverini
-from ..common.mathfuncs import *
+from ..common.constants import MUNICH_LATITUDE
+from ..common.constants import MUNICH_LONGITUDE
+from ..common.constants import MUNICH_HEIGHT
+from ..common.mathfuncs import cosd
+from ..common.mathfuncs import sind
 
 # Reference Observations in Munich, Germany
 from ..utils.wmm import WMM

ahrs/utils/wgs84.py

@@ -495,7 +495,8 @@ def __init__(self, a: float = EARTH_EQUATOR_RADIUS, f: float = EARTH_FLATTENING,
         self.is_geodetic &= np.isclose(self.w, EARTH_ROTATION)
 
     def normal_gravity(self, lat: float, h: float = 0.0) -> float:
-        """Normal Gravity on (or above) Ellipsoidal Surface
+        """
+        Normal Gravity on (or above) Ellipsoidal Surface
 
         Estimate the normal gravity on or above the surface of an ellipsoidal
         body using Somigliana's formula (on surface) and a series expansion
@@ -1060,7 +1061,8 @@ def dynamic_inertial_moment_about_Y(self):
         return np.sqrt(5)*self.mass*self.a**2*((1-1/DYNAMIC_ELLIPTICITY)*EARTH_C20_DYN + EARTH_C22_DYN/np.sqrt(3))
 
 class WGSTest(unittest.TestCase):
-    """Test Gravitational Models
+    """
+    Test Gravitational Models
 
     All values used to test the WGS model are retrieved from its latest report
     as defined in Appendix B.
@@ -1070,7 +1072,7 @@ class WGSTest(unittest.TestCase):
 
     """
     def test_wgs84(self):
-        """Test WGS84 with Earth's properties"""
+        """Test WGS84 with Earth's properties."""
         wgs = WGS()
         self.assertAlmostEqual(wgs.a, 6_378_137.0, 1)
         self.assertAlmostEqual(wgs.f, 1/298.257223563, 7)

ahrs/utils/wmm.py

@@ -214,9 +214,17 @@
 import pkgutil
 from io import StringIO
 from typing import Union, Tuple, Dict
+
 # Third-Party Dependencies
 import numpy as np
-from ..common.constants import *
+from ..common.constants import EARTH_EQUATOR_RADIUS
+from ..common.constants import EARTH_POLAR_RADIUS
+from ..common.constants import EARTH_MEAN_RADIUS
+from ..common.constants import MUNICH_LATITUDE
+from ..common.constants import MUNICH_LONGITUDE
+from ..common.constants import MUNICH_HEIGHT
+from ..common.constants import DEG2RAD
+from ..common.constants import RAD2DEG
 from ..common.frames import ned2enu
 
 def geodetic2spherical(lat: float, lon: float, h: float, a: float = EARTH_EQUATOR_RADIUS/1000.0, b: float = EARTH_POLAR_RADIUS/1000.0) -> Tuple[float, float, float]:
@@ -555,7 +563,8 @@ def reset_date(self, date: Union[datetime.date, int, float]) -> None:
         self.wmm_filename = 'WMM2015/WMM.COF' if self.date_dec < 2020.0 else 'WMM2020/WMM.COF'
 
     def denormalize_coefficients(self, latitude: float) -> None:
-        """Recursively estimate associated Legendre polynomials and derivatives
+        """
+        Recursively estimate associated Legendre polynomials and derivatives
         done in a recursive way as described by Michael Plett in [Wertz]_ for
         an efficient computation.
 
@@ -594,7 +603,7 @@ def denormalize_coefficients(self, latitude: float) -> None:
         where :math:`K` is either :math:`(n-m)/2` or :math:`(n-m-1)/2`,
         whichever is an integer. For a computational improvement, the terms are
         calculated recursively.
-        
+
         We have to denormalize the coefficients from Schmidt to Gauss. The
         Gauss functions :math:`P^{n, m}` are related to Schmidt functions
         :math:`P_n^m` as:
@@ -850,7 +859,8 @@ def magnetic_field(self, latitude: float, longitude: float, height: float = 0.0,
 
     @property
     def magnetic_elements(self) -> Dict[str, float]:
-        """Main geomagnetic elements in a dictionary
+        """
+        Main geomagnetic elements in a dictionary
 
         =======  =============================================
         Element  Definition