[Top][All Lists]
[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[Paparazzi-devel] New (old) ahrs algorithm in dev branch
From: |
Felix Ruess |
Subject: |
[Paparazzi-devel] New (old) ahrs algorithm in dev branch |
Date: |
Wed, 7 Dec 2011 21:31:17 +0100 |
Hi all,
I just pushed some changes to the dev branch to make it possible to use
<subsystem name="ahrs" type="float_cmpl_rmat"/>
as ahrs estimation algorithm. Antoine already wrote this filter quite
a while ago....
Also it should now should deal with all BODY_TO_IMU rotations
correctly and correct for centrifugal acceleration in coordinated
turns.
The necessary define AHRS_GRAVITY_UPDATE_COORDINATED_TURN is already
set by default for a fixedwing firmware.
Also see
http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Complementary_Rotation_Matrix_.28floating_point.29
Feedback, tests, possible bug reports, etc. are very welcome!
Cheers, Felix
- [Paparazzi-devel] New (old) ahrs algorithm in dev branch,
Felix Ruess <=