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Koide replied to Simon Wood's discussion Tilting gyro's axis to improve yaw noise on low velocity UAVs

In the ArduIMU code, the DCM attitude and the drift correction modules are orthogonal and symmetrical in all 3 axes, and all gyros - pitch, roll and yaw are drift-corrected by the gravity vector obtained from the 3 accelerometers.

If the…"
Jan 10, 2010
Koide replied to William Premerlani's discussion robust estimator of the direction cosine matrix
"Dear Bill,

Thank you for the excellent work that you, Paul and Louis has done for us drone diy'ers in deriving and formulating the complementary DCM attitude estimator using gyros, accelerometers and GPS data.

I am happily porting over your DCM…"
Oct 17, 2009