From: Patrick McColl <address@hidden>
Sent: Fri, 18 March, 2011 9:46:37 AM
Subject: [Paparazzi-devel] Problems with ahrs Kalman
I'm using the ahrs-Kalman code (paparazzi3
version from koders.com) on a board of my own design. The board uses
Rabbit BL4100 microprocessor board and Analog Devices ADIS16364
gyro/accelerometer and Micromag3 magnetic sensors.
The code works fine with small movements but turns
unstable after a minute (or so) when I move the board simulating a
Has anybody experience the same problem? Is
there any way to fix it?
While debugging I noticed that the P matrix is symmetric
all the time. Is this correct?
If so, the code can be optimized by
calculating only half the matrix and just filling the other half with
the calculated values.