Version 2.3.4

Corrected spelling for Mahony

Author: reefwing

README.md

@@ -18,6 +18,8 @@ An Attitude and Heading Reference System (AHRS) takes information from the Inert
 
  Version 2.3.3 enhanced `complementaryUpdate()`. Proper quaternion integration requires that all components are updated using their previous values before the entire quaternion is replaced. Issue identified by [Martin Budden](https://github.com/martinbudden).
 
+ Version 2.3.4 fixed spelling of Mahony. Issue identified by [Martin Budden](https://github.com/martinbudden).
+
  A complete description of this library is available in our Medium article: [Reefwing AHRS Arduino Library for Drones](https://reefwing.medium.com/reefwing-ahrs-arduino-library-for-drones-part-1-6d6457231764).
 
 ## Reefwing IMU Types

keywords.txt

@@ -26,7 +26,7 @@ begin  KEYWORD2
 update  KEYWORD2
 classicUpdate   KEYWORD2
 madgwickUpdate  KEYWORD2
-mahoneyUpdate   KEYWORD2
+mahonyUpdate   KEYWORD2
 complementaryUpdate KEYWORD2
 extendedKalmanUpdate    KEYWORD2
 tiltCompensatedYaw  KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=ReefwingAHRS
-version=2.3.3
+version=2.3.4
 author=David Such <[email protected]>
 maintainer=David Such <[email protected]>
 sentence=Attitude and Heading Reference System (AHRS) used in the Reefwing Flight Controller.

src/ReefwingAHRS.cpp

@@ -5,8 +5,8 @@
   @copyright  Please see the accompanying LICENSE file.
 
   Code:        David Such
-  Version:     2.3.3
-  Date:        05/01/25
+  Version:     2.3.4
+  Date:        09/01/25
 
   1.0.0 Original Release.                         22/02/22
   1.1.0 Added NONE fusion option.                 25/05/22
@@ -18,6 +18,7 @@
   2.3.1 Madgwick filter bug fixed                 30/12/24
   2.3.2 Improved normalization for Madgwick       31/12/24
   2.3.3 Complementary update enhancements         05/01/25
+  2.3.4 Corrected spelling for Mahony             09/01/25
 
 
   Credits: - The C++ code for our quaternion position update 
@@ -219,7 +220,7 @@ void ReefwingAHRS::update() {
       angles = _q.toEulerAngles(_declination);
     break;
     case SensorFusion::MAHONY:
-      mahoneyUpdate(gyroToRadians(), deltaT);
+      mahonyUpdate(gyroToRadians(), deltaT);
       angles = _q.toEulerAngles(_declination);
     break;
     case SensorFusion::COMPLEMENTARY:
@@ -629,7 +630,7 @@ void ReefwingAHRS::madgwickUpdate(SensorData d, float deltaT) {
   _q.q3 = _q.q3 * norm;
 }
 
-void ReefwingAHRS::mahoneyUpdate(SensorData d, float deltaT) {
+void ReefwingAHRS::mahonyUpdate(SensorData d, float deltaT) {
   float norm;
   float hx, hy, bx, bz;
   float vx, vy, vz, wx, wy, wz;

src/ReefwingAHRS.h

@@ -5,8 +5,8 @@
   @copyright  Please see the accompanying LICENSE file.
 
   Code:        David Such
-  Version:     2.3.3
-  Date:        05/01/25
+  Version:     2.3.4
+  Date:        09/01/25
 
   1.0.0 Original Release.                         22/02/22
   1.1.0 Added NONE fusion option.                 25/05/22
@@ -18,6 +18,7 @@
   2.3.1 Madgwick filter bug fixed                 30/12/24
   2.3.2 Improved normalization for Madgwick       31/12/24
   2.3.3 Complementary update enhancements         05/01/25
+  2.3.4 Corrected spelling for Mahony             09/01/25
 
   Credits: - The C++ code for our quaternion position update 
              using the Madgwick Filter is based on the paper, 
@@ -119,7 +120,7 @@ class ReefwingAHRS {
     void classicUpdate();
     void tiltCompensatedYaw();
     void madgwickUpdate(SensorData d, float deltaT); 
-    void mahoneyUpdate(SensorData d, float deltaT);
+    void mahonyUpdate(SensorData d, float deltaT);
     void extendedKalmanUpdate(SensorData d, float deltaT); 
     void complementaryUpdate(SensorData d, float deltaT);