Re: [Paparazzi-devel] New (old) ahrs algorithm in dev branch

[Felix Ruess]

Hi again,

More changes in the dev branch that should be tested, so help is welcome :-)

I made the same fixes (correctly consider BODY_TO_IMU when correcting
for centrifugal acceleration) for
<subsystem name="ahrs" type="int_cmpl_quat"/>
Also this AHRS_GRAVITY_UPDATE_COORDINATED_TURN is turned on be default
for fixedwings as well...

Cheers, Felix

On Wed, Dec 7, 2011 at 9:31 PM, Felix Ruess <address@hidden> wrote:
> 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