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Re: [Paparazzi-devel] Measured info from sensors in ahrs_int_cmpl_euler

From: Felix Ruess
Subject: Re: [Paparazzi-devel] Measured info from sensors in ahrs_int_cmpl_euler filter
Date: Tue, 10 Nov 2015 11:51:44 +0100

You might want to take a look at the floating point implementations first, since they are easier to understand without all the shifts used for different fixedpoint representations.

F_UPDATE is the update frequency.

On Fri, Nov 6, 2015 at 7:43 PM, flavio_just <address@hidden> wrote:
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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