|From:||Hector Garcia de Marina|
|Subject:||Re: [Paparazzi-devel] PPRZ Complementary Filter|
|Date:||Mon, 28 Dec 2015 10:38:31 +0100|
I am currently trying to reproduce the PPRZ C.F (ahrs_int_cmpl_euler.c) in
Matlab and for that I am trying to fully understand the equations and the
code itself. (Old version of PPRZ, I have no other choice =/)
I would like to know the following points, if it's possible:
- How the ahrs_align works and how lp_gyro, lp_accel and lp_mag are
calculated (is it the average of the sum of all the samples measured until
- Where is the gyro information of ahrs_propagate put together with accel
info to generate the so called C.F? I can notice ahrs_propagate integrates
the gyro and that ahrs_update_accel uses accel measurements, but where is
the line of code that puts all of them together for roll and pitch
- Why is it made a rotation from IMU to BODY always after ahrs_init,
propagates, etc? Can't it be used always the estimations in IMU and only
make the final rotation to BODY after all calculations?
- Finally, I assume that the functions go in this order: Init, Align,
Propagate, update_accel, update_mag. Is that correct? If yes, what is the
name of the variable containing the final att estimations that are uploaded
to the estimator and sent to telemetry?
I know I asked a lot of questions, but I really thank you for your help.
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