Question: About the details of the Fusion algorithm about fusion

[xioTechnologies]

Fusion uses a cross product operation to compute the error but this is a minor difference. The more notable changes are the offset correction algorithm, and angular rate recovery, acceleration rejection, and magnetic rejection features which all provide significant improvement to accuracy and performance. There are numerous other changes such as support for different axes conventions and output types.

I suggest the best way to interpret the difference is the that Fusion is the Madgwick algorithm after of over a decade of experience developing IMU products and providing consulting services to a wide range of applications.

The README provides a high level theory of operation. This comment explains the derivation of the rejection features. You are welcome to ask specific questions.

[DDMichael]

Thanks for the reply, really helpful!