EKF filter to use with altitude

Hi all,

I've recently started to learn about altitude hold using barometer and acceleration values. I've found simple kalman filters codes, but I've read that extended kalman filter is more usefull and precise for this kind of use.

I've read something about mathematical differences between this two filters but I don't want to digg so much to implement my own filter. Instead I'd like to add to my code an already developed and tested EKF filter for this purposes.

I know that ArduCopter use EKF for estimate altitude, but after seeing code I've found that it's not so clear (for me) to get it and reuse it for my application.

Can someone advice me EKF algorithms in C/C++ that I can use for estimate altitude and velocity? In particular to use with a barometer and an accelerometer.

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Activity