WHERE IS THE KALMAN FILTER IMPLEMENTED?

Posted by Igor D on March 15, 2013 at 6:21pm

Hi!

I pretend to use the arducopter in a work for college. 

I want to implement the control algorithm, but i don't want to implement the Kalman Filter.

Do someone know where is the Kalman Filter implemented, so I could just use inertial estimation in my control loop?

Thanks!!

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Replies

  • Developer
    Randy March 15, 2013 at 6:36pm

    Igor,

         If you're looking for the attitude solution (roll, pitch, yaw) then we use DCM and you'll find it in the AP_AHRS_DCM class here.

         If you're looking for position estimation which relies on the accelerometers then we use a 3rd order complementary filter which is in the AP_InertialNav lib here.

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