FSensor

OVERVIEW

Kotlin Multiplatform library providing device-agnostic sensor fusion for Android and iOS. Implements six fusion algorithms — Madgwick (gradient descent, 6-DOF/9-DOF), Mahony (proportional-integral), Extended Kalman Filter, Complementary Filter, Linear Kalman Filter, and Low-Pass Filter — each producing orientation quaternions and gravity-compensated linear acceleration. Includes three smoothing filters (low-pass, mean, median) with configurable time constants, a GPS Kalman Filter for position/velocity/acceleration estimation, and WGS84 coordinate conversion utilities between geodetic, ECEF, and local ENU frames. Published to Maven Central and Swift Package Manager.