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

From: Felix Ruess
Subject: [Paparazzi-devel] New (old) ahrs algorithm in dev branch
Date: Wed, 7 Dec 2011 21:31:17 +0100

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
The necessary define AHRS_GRAVITY_UPDATE_COORDINATED_TURN is already
set by default for a fixedwing firmware.

Also see

Feedback, tests, possible bug reports, etc. are very welcome!

Cheers, Felix

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