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[Paparazzi-devel] Measured info from sensors in ahrs_int_cmpl_euler filt

From: flavio_just
Subject: [Paparazzi-devel] Measured info from sensors in ahrs_int_cmpl_euler filter
Date: Fri, 6 Nov 2015 11:43:35 -0700 (MST)

Hi guys!
I would like to know exactly what expressions are used to calculate the
direct angles from accel and mag by this filter, since bitshifts is often
used and confuses me. 

Currently, I am using the following expressions in matlab to reproduce what
pprz does:

for the roll and pitch angles the dynamics is the same but with an error of
about 4 or 5º everytime. For the mag is completely different the result. 

By the way, can someone also tell me why F_UPDATE exists and what it does?

Thank you so much guys,

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