ahrs_float_cmpl_quat
AHRS using complementary filter in floating point. Propagation is done in quaternion representation. Estimates the gyro bias. By default uses magnetometer for heading for rotorcrafts. For fixedwing firmware AHRS_GRAVITY_UPDATE_COORDINATED_TURN is enabled by default.
Name |
Value |
Description |
|---|---|---|
USE_MAGNETOMETER |
TRUE |
set to FALSE to disable magnetometer |
AHRS_ALIGNER_LED |
1 |
LED number to indicate AHRS alignment, none to disable (default is board dependent) |
Name |
Value |
Description |
|---|---|---|
AHRS_MAG_UPDATE_ALL_AXES |
FALSE|TRUE |
Use magnetometer to update all axes and not only yaw |
AHRS_USE_GPS_HEADING |
FALSE|TRUE |
Use GPS course to update heading |
AHRS_GRAVITY_UPDATE_COORDINATED_TURN |
FALSE|TRUE |
Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing) |
AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION |
FALSE|TRUE |
AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in the negative Z direction |
AHRS_PROPAGATE_LOW_PASS_RATES |
apply a low pass filter on rotational velocity |
|
AHRS_GRAVITY_HEURISTIC_FACTOR |
30 |
Default is 30. Reduce accelerometer cut-off frequency when the vehicle is accelerating: norm(ax,ay,az) ~ 9,81 m/s2. WARNING: when the IMU is not well damped, the norm of accelerometers never equals to 9,81 m/s2. As a result, the GRAVITY_HEURISTIC_FACTOR will reduce the accelerometer bandwith even if the vehicle is not accelerating. Set to 0 in case of vibrations |
AHRS_FC_IMU_ID |
ABI_BROADCAST |
ABI sender id of IMU to use |
AHRS_FC_MAG_ID |
ABI_BROADCAST |
ABI sender id of magnetometer to use |
AHRS_FC_GPS_ID |
GPS_MULTI_ID |
ABI sender id of GPS to use |
Depends
- ahrs_common
- @imu
- @gps|@mag
Provides
- ahrs