Two algorithms for attitude estimate based on complementary filtering. Data form Gyroscope and Accelerometer are fused. One is based on gradient descent algorithm while the other is based on the feedback and Lyapunov stability.

Attitude Algorithm
..................\MadgwickAHRS
..................\............\MadgwickAHRS.c
..................\............\MadgwickAHRS.h
..................\MahonyAHRS
..................\..........\MahonyAHRS.c
..................\..........\MahonyAHRS.h

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