Re: [Paparazzi-devel] Removal of Centrifugal Force

[Felix Ruess]

Hi Rich,

yes, it's right there: https://github.com/paparazzi/paparazzi/blob/master/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c#L253-L280

Cheers, Felix

On Mon, Nov 9, 2015 at 7:48 PM, richas <address@hidden> wrote:

Hi,
I am looking at the code fo complementary Quaternions, specifically
ahrs_int_cmpl_quat.c.  It looks like if the "correct_gravity" flag is set
then there is a correction for centrifugal force, which is required for
fixed wing aircraft.
I looks like this implementation would be at line 252 but those lines are
commented out.  Is the correction not there or am I looking at the wrong
spot?

Thanks

Rich



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