Error in Madgwick updateMARG "unexpected keyword argument" when using dt

[viatto]

when I try to use this function the command window alerts me of the argument doesn't exist even if it is mentioned in the documentation.
q = madgwick.updateMARG( q=qprec, gyr=g,acc=a, mag=MagVals, dt=deltat)
In addiction when I tried to use without dt argument I have the following error:
q = madgwick.updateMARG( q=qprec, gyr=g,acc=a, mag=MagVals)
File "/Users/vittoriaattolini/opt/anaconda3/lib/python3.8/site-packages/ahrs/filters/madgwick.py", line 668, in updateMARG
h = q_prod(q, q_prod([0, *m], q_conj(q))) # (eq. 45)
File "/Users/vittoriaattolini/opt/anaconda3/lib/python3.8/site-packages/ahrs/common/orientation.py", line 64, in q_conj
if q.ndim>2 or q.shape[-1]!=4:
AttributeError: 'list' object has no attribute 'ndim'

I followed the documentation indication: qprec is an array of 4 values, g, a and Magvals are array of 3 values

[Mario Garcia]

Hi viatto,

both errors you mention origin from the same submodule orientation, where the function q_conj assumed a numpy.array was given, which has the attributes ndim and `shape´.

When a list is given, it would raise an Error, because lists do not contain these attributes.

I fixed it with the commit 5d9016b by creating a copy of the given input array (q) and using this copy instead.

Please give it a try again, and let me know if it helped.

Thanks!

[viatto]

Thank you! Now it's working!