cosmetic fixes

Cargo.toml

@@ -16,7 +16,7 @@ path = "src/lib.rs"
 
 [dependencies]
 libm = "0.2.8"
-nalgebra = { version = "0.31.4", default-features = false, features = ["libm-force"] }
+nalgebra = { version = "0.32.3", default-features = false, features = ["libm-force"] }
 
 [dev-dependencies]
 csv = "1.3.0"

README.md

@@ -3,3 +3,8 @@
 
 It is a porting of well known Fusion library
 https://github.com/xioTechnologies/Fusion
+
+
+
+The project contains [Fusion](https://github.com/xioTechnologies/Fusion) library as submodule. 
+It is used for tests only, in order to compare results of C implementation with Rust one. 

src/lib.rs

@@ -9,8 +9,6 @@ mod fusion_ahrs_impl;
 mod fusion_gyr_offset_impl;
 mod nalgebra;
 
-use libm::asinf;
-
 pub enum FusionConvention {
     /* North-West-Up */
     NWU,
@@ -113,8 +111,7 @@ pub union FusionQuaternion {
 
 #[derive(Copy, Clone)]
 #[allow(dead_code)]
-pub union FusionEuler {
-    data: [f32; 3],
+pub struct FusionEuler {
     pub angle: Angle,
 }
 
@@ -143,6 +140,7 @@ fn fusion_radians_to_degrees(radians: f32) -> f32 {
 }
 
 fn asin_safe(value: f32) -> f32 {
+    use libm::{asinf};
     if value <= -1.0f32 {
         return core::f32::consts::PI / -2.0f32;
     }
@@ -168,6 +166,9 @@ fn fusion_fast_inverse_sqrt(x: f32) -> f32 {
 
 #[test]
 fn fusion_fast_inverse_sqrt_test() {
+    use libm::{fabsf};
     let result = fusion_fast_inverse_sqrt(9.0f32);
-    assert_eq!(1f32 / result, 3f32);
+    let actual = 1f32 / result;
+    let expected = 3f32;
+    assert!(fabsf(actual - expected) < 0.01f32);
 }