|From:||Prof. Dr.-Ing. Heinrich Warmers|
|Subject:||Re: [Paparazzi-devel] Problems with ahrs Kalman|
|Date:||Fri, 18 Mar 2011 09:27:42 +0100|
|User-agent:||Mozilla/5.0 (Windows; U; Windows NT 5.0; de-DE; rv:1.4) Gecko/20030619 Netscape/7.1 (ax)|
i have no practice with the Paparazzi filter but i saw the following with our implementation of a EKF:
The results are affected of the data types (32 bit real or 64 bit real). We had differences with the mathlab model (64 Bit) and the implementation on the lpc2148 (32 Bit).
The micormag has often very bad data and a lot of spikes.
Are you sure that the implementation can work with all angles?
In the video there were only movements in the range of +-45 grad.
A question to the developer group was never answered.
By our implementation of the complementary DCM filter (Spring 2010) we had to improve the Paparazzi code to became
compatible with all angles ranges.
Sometime you get gimbal locks.
If you want to have a look to the problems please read:
Patrick McColl schrieb:
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