Re: [Paparazzi-devel] Issue with Body_to_Imu and DCM

[Felix Ruess]

Hi Loic,

ah, no... int_cmpl_euler actually doesn't. I totally forgot about that old one.

I updated http://paparazzi.enac.fr/wiki/Subsystem/ahrs a bit to reflect this.

IMHO there is no reason to still use that one anyway.

The "default" ahrs should be int_cmpl_quat. It only has advantages over int_cmpl_euler.

The frequency is not determined by the algorithms themselves, it just depends how often you call them...

But in practice, yes.. all ahrs algorithms are run at 512Hz in rotorcraft (unless you change that default).

Cheers, Felix

On Mon, Feb 20, 2012 at 10:18 AM, Loic Drumettaz <address@hidden> wrote:

Felix,

Do you confirm that int_cmpl_euler ahrs algorithm also handles correctly BODY_TO_IMU rotation? More generaly speaking, what are the differences between int_cmpl_euler and int_cmpl_quat? If i understand correctly http://paparazzi.enac.fr/wiki/Subsystem/ahrs, int_cmpl_quat offers more options: low pass filter on rotational velocity, mag update yaw only, local magnetic fied correction. Are both algorithms running at the same frequency? 

I have tried both algorithms but I find it difficult to decide which one works the best on my quad. Any tips or recommendations?

Regards,

Loïc

Chris,

float_dcm is currently the only ahrs algorithm that which does not take BODY_TO_IMU into account properly (if you are using the dev branch, which you are).

So you don't have this issue, since you are using ahrs int_cmpl_quat.

See https://github.com/paparazzi/paparazzi/issues/93

Felix

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