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Re: [Paparazzi-devel] fixed point complementary quaternion AHRS in fixed

From: Felix Ruess
Subject: Re: [Paparazzi-devel] fixed point complementary quaternion AHRS in fixedwing
Date: Tue, 1 Jul 2014 17:08:55 +0200

Hi Karlito,

the difference in ahrs int_cmpl_quat is that AHRS_GRAVITY_UPDATE_COORDINATED_TURN is enabled by default for fixedwing firmware (but only relevant if you USE_GPS).
And you are using different IMU calibration... try with the same one (the one in your rotorcraft file if that one works)...

Cheers, Felix

On Tue, Jul 1, 2014 at 2:22 PM, karlito <address@hidden> wrote:

I'm working on the Delfly (, I would like to make it autonomous with paparazzi. In my case I would like to make it go forward first, and the eventually make it hover (like in the video).

For that reason I started using the fixed wing firmware. But when I use the fixed point complementary quaternion AHRS algorithm, I get an attitude that is very small in amplitude compared to the reality. For example pitching up 90° will make it display 10° on the PFD.

I then tried with he rotorcraft code. In that case it works perfectly, my PFD displays something very close to the reality.

I joined the two airframe files that I use for my tests.

What could be the reason for this comportment.

Thanks a lot.

Have a nice day.
Sent from my crane.

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