EKF Bug, crashes when passing magnetometer data.

[AegisEngineering]

AHRS version 0.4

When i attempt to use the EKF with magnetometer vector i get the following error;

Trace:
q = ekf.update(q, np.deg2rad(gyr), acc, MAG_CAL/1000, dt)
File "C:\Users\natha\AppData\Roaming\Python\Python313\site-packages\ahrs\filters\ekf.py", line 1377, in update
v = z - y # Innovation (Measurement Residual)
^
ValueError: operands could not be broadcast together with shapes (6,) (3,)

Works fine with just accelerometer and gyroscope.

[Mayitzin]

Hi, apparently there is a problem trying to process data with different array sizes. Can you share more about your code?

You can also double check that:

• Values of the magnetometer are NOT equal to zero.
• Data of the magnetometer is not empty.

It also seems that the error happens at the comparison of the measurements. Did you initialize the EKF class without any magnetometer data? If so, it would start the EKF, by default, expecting Gyroscope and Accelerometer sensing data only.