Re: [Paparazzi-devel] Problems with ahrs Kalman

[Felix Ruess]

Hi Patrick,

yes the P matrix is symmetric, and you are right that this property
should be use to optimize the code. This would also aid numerical
stability.
Which ahrs-kalman code are you referring to exactly?

Cheers, Felix

On Fri, Mar 18, 2011 at 12:45 AM, Todd Sandercock
<address@hidden> wrote:
> Koders is getting source from the old CVS right??? Try pulling the latest
> source off of the GIT
> Todd
> ________________________________
> From: Patrick McColl <address@hidden>
> To: address@hidden
> Sent: Fri, 18 March, 2011 9:46:37 AM
> Subject: [Paparazzi-devel] Problems with ahrs Kalman
>
> Hi,
>
> I'm using the ahrs-Kalman code  (paparazzi3 version from koders.com) on a
> board of my own design.  The board uses Rabbit BL4100 microprocessor board
> and Analog Devices ADIS16364 gyro/accelerometer and Micromag3 magnetic
> sensors.
>
> The code works fine with small movements but turns unstable after a minute
> (or so) when I move the board simulating a normal flight.
>
> Has anybody experience the same problem?  Is there any way to fix it?
>
> While debugging I noticed that the P matrix is symmetric all the time. Is
> this correct?
> If so, the code can be optimized by calculating only half the matrix and
> just filling the other half with the calculated values.
>
> Thanks,
>
> Patrick
>
>
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