Hey everyone. I recently finished a new AHRS (see the picture below). The firmware is open-source, and I thought it might be interesting to you guys. The firmware supports EKF-based Euler Angle and Quaternion estimation, depending on what you want to use (you can estimate using euler angles if you want to limit the magnetometer so that it only affects yaw). For anyone who wants to write their own estimation code, the UM6 firmware might be a good starting place.
Sourceforge project: https://sourceforge.net/projects/um6firmware/
The source code can be checked out using SVN with:
I'm probably going to be working on something similar over the next few months. Maybe even with the 6DM that I bought. If I ever have something to show for my efforts, will let you know. :)
That's great! I'll look forward to seeing what you come up with.
Attitude estimation ONLY 3axis ACCELEROMETERS.
Dear DIYdrones friends,
I'm looking for an Attitude Estimation algorithm, and only have 3 axis accelerometers. I know this will may not be optimal, and will be slow. But, if you know an algorithm, forum topic, or wiki how to set this up for my limited arduino hardware please tell me.
Just reference to the Earth gravity vector, and use an arctangent function to find the X and Y Euler angles. Be careful about linear accelerations, as they'll throw off your calculations.
Note: the Z Euler angles will be invalid most of the time.
i am interested about centripetal compensation code =)
Is the source code for the most recent firmware (UM3?) and version 3.0.x of the CHR Serial interface program available anywhere? Seems like the Sourceforge repositories are a bit out of date.