Re: [Paparazzi-devel] razor imu

[Christoph Niemann]

Hi Guys,

thank your doing the changes for me and integrating the stuff. Those improvements done by Christophe where also planned by me, but I didn't find the time yet, so I'm happy you did.

Cheers

Christoph

Am 10.12.2010 02:09 schrieb "Felix Ruess" <address@hidden>:

Hi guys,

I refactored the code further and moved the actual estimation (dcm) to
subsystems/ahrs/ahrs_float_dcm.
This is not merged into master yet, it is currently in the analogimu
branch in the paparazzi repo.
Changes so far:
- better separation of the imu<->ahrs parts
- use calibration data from airframe file for imu (scaling and
neutrals), not so nice to set the accel neutrals at startup
- use ahrs_aligner to get the gyro bias on startup
- use more already available paparazzi algebra makros
Todo (in progress):
- more cleanup
- use magnetometer
- use GPS to compensate for centrifugal acceleration
- also set other attitude representations in the ahrs interface
(quaternions, dcm) only eulers set there so far

Then of course we want to refactor estimator and create a more general
state interface that can be used for rotorcrafts and fixedwings.

Cheers, Felix

On Thu, Dec 9, 2010 at 6:26 PM, Christophe De Wagter <address@hidden> wrote:
> Dear Christoph,
...