Testing inertial attitude estimation in my hardware

I am testing DCM update with PI drift tracking. I am using one closed loop with gravity vector and other for magnetic field vector (3 axis vector), i am comparing measured vector with my local magnetic field vector. it works ok!i have read than magnetometers can not be used with electric motors, but i have tested this board over a electric plane, and i can see noise due electric motor is very very small, it is dificult to see any effect in algorithm result.

Thanks to Bill Premerlani and Paul Bizard for his DCM method description.jlcortexnmine.com

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Manor A. May 16, 2009 at 2:05pm

Hi Jose,
Good job, looks like you have done some fantastic work on porting the DCM algorithm to your platform. The RC hardware and GUI looks great too. Would you mind sharing the details of using the 3-axes magnetometer into the algorithm?

manora
T3

William Premerlani May 13, 2009 at 5:22pm

Jose,

You are quite welcome. Paul and I in turn thank Mahony for his publications on the subject.

Very nice work. I am impressed that you were able to figure out how to integrate the magnetometer into the algorithm on your own.

Bill Premerlani

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