[Paparazzi-devel] IMU

[kitts]

I have been looking at http://autopilot.sourceforge.net/kalman.html and find 
it to be a word for word explanation of the code in ahrs.c as it appears in 
the avr folder. However, the code in ahrs.c that appears in the rev2 folder 
(http://autopilot.cvs.sourceforge.net/autopilot/onboard/rev2/) differs from 
the explanation and has a time stamp that is two months later. This code 
seems to be more advanced utilizing some time distributed computing and takes 
gyro biasing into account.

Could somebody more knowledgeable kindly offer an explanation of this 
modification and its stability? Also i would like to know more about 
paparazzi's IMU code. I am interested in a IMU solution based only on rate 
gyros, accelerometers and maybe a compass.
-- 
Cheers!
kitts