A three-axis IMU-based autopilot board

For the most up to date information, visit the UAVDevBoard website.

The following are links to important postings regarding algorithmic innovations that have been incorporated into the MatrixPilot autopilot and in most instances, also adopted into ArduPlane and ArduCopter.

Discussions:

• Main discussion forum
• Robust estimator of the direction cosine matrix
• Wind estimation without an airspeed sensor
• Automatic nulling of magnetometer offsets.
• An improved method to account for acceleration in gyro drift computations.

Blog posts:

• DCM IMU Theory : first draft
• A simple dead-reckoning algorithm.
• Fast rotations.
• Magnetometer offsets revisted.
• Magnetometer alignment.
• Measuring Tilt Dynamics
• Acceleration compensation testing