ahrs_float_cmpl_rmat

AHRS using complementary filter in floating point. Propagation is done in rotation matrix representation.

Configures
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)

Defines
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_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