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[Paparazzi-devel] IMU
From: |
kitts |
Subject: |
[Paparazzi-devel] IMU |
Date: |
Wed, 29 Aug 2007 09:11:17 +0530 |
User-agent: |
KMail/1.9.6 (enterprise 0.20070824.704228) |
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
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