ahrs_float_mlkf
AHRS using MLKF filter. Multiplicative Linearized Kalman Filter in quaternion formulation. Estimates the gyro bias and needs magnetometer to update all 3 axes. Not suitable for fixedwings! Suitable for rotorcraft. The magnetometer is used and needs to be well calibrated. Estimates attitude and heading. Does not use GPS.
Name |
Value |
Description |
|---|---|---|
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_MLKF_IMU_ID |
ABI_BROADCAST |
ABI sender id of IMU to use |
AHRS_MLKF_MAG_ID |
ABI_BROADCAST |
ABI sender id of magnetometer to use |
Depends
- ahrs_common
- @imu
- @mag
Provides
- ahrs