这份代码是基于https://github.com/hkbl1988/AHRS_EKF的代码改写而来的 对一些大变量做了裁剪，为了方便植入嵌入式里面，比如STM32 我自己做测试的时候收敛比原作者的慢，16000+多的数据，大概在2000的时候才收敛
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A ready-to-embed version for the AHRS-QKF from https://github.com/hkbl1988/AHRS_EKF, and generated C code
trigger1996/AHRS_QKF
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A ready-to-embed version for the AHRS-QKF from https://github.com/hkbl1988/AHRS_EKF, and generated C code
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