ahrs_float_dcm
AHRS using DCM filter. No direct gyro bias estimation, but also compensates for attitude drift. Uses GPS speed for heading. Compensation of centrifugal force via GPS speed (to fly in circles with a fixedwing). Careful, it doesn’t handle all BODY_TO_IMU rotations (mounting positions) correctly! The algorithm was developed by William Premerlani and Paul Bizard. The algorithm is also used in the AHRS systems of the AdruIMU. The name DCM for the algorithm is really a misnomer, as that just means that the orientation is represented as a DirectionCosineMatrix (rotation matrix). But since people already know it under that name, we kept it.
Name |
Value |
Description |
|---|---|---|
USE_MAGNETOMETER |
FALSE |
set to FALSE to disable magnetometer |
Name |
Value |
Description |
|---|---|---|
USE_MAGNETOMETER_ONGROUND |
use magnetic compensation before takeoff only while GPS course not good |
|
USE_AHRS_GPS_ACCELERATIONS |
enable forward acceleration compensation from GPS speed |
|
ACCEL_WEIGHT_FILTER |
8 |
adjust accel drift heuristic filter (default 8, 0 to disable filter) |
ACCEL_WEIGHT_BAND |
1. |
band size of accel filter: 1. means that there is no correction when accel magnitude exceeds +/- 0.5G around 1G (normal flight) |
Depends
- ahrs_common
- @imu
- @gps
Provides
- ahrs