go get github.com/tracktum/go-ahrs
See example in ahrs_test.go
Benchmark ran in my Dell Intel® Core™ i3-5010U CPU @ 2.10GHz × 4
(2015 i3 laptop), with Arch Linux OS:
goos: linux
goarch: amd64
pkg: github.com/tracktum/go-ahrs
BenchmarkMadgwick-4 78186508 152 ns/op
BenchmarkMahony-4 100000000 117 ns/op
PASS
ok github.com/tracktum/go-ahrs 25.318s