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

[Felix Ruess]

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

Also see 
http://paparazzi.enac.fr/wiki/Subsystem/ahrs#Complementary_Rotation_Matrix_.28floating_point.29

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

Cheers, Felix