2x missing x2 #50
Description
Hello, thanks for making Madgwick filter so easily available on Arduinos!
Are you aware of the analysis in https://github.com/RideBeeline/madgwick-investigation?
It reveals that the code here is missing two multiplications by two. What is called two bx and two bz here is in fact bx and bz.
It can be fixed by, for example, adding these two lines.
After reading the original paper (pdf) and a Python implementation, I support the conclusion of the analysis.