Q attitude estimator improvements #9361
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By setting ATT_W_MAG to 0
…city not used This reduces attitude drift on vehicles w/o GPS. The default behavior is unchanged, to use it, disable ATT_ACC_COMP.
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If you're going to be testing attitude_estimator_q could you cherry-pick the pending mathlib matrix changes as well? https://github.com/PX4/Firmware/pull/9181/commits Only this commit is needed: 909845a |
…cm init Quaterion::from_dcm does not set *this, but just returns the resulting Quaterion.
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Thanks, that's exactly what I was hoping would be checked. |
This was referenced Apr 28, 2018
bkueng
changed the title
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Test-flown again, this is good to go |
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@priseborough Could we get equivalent changes into EKF2? |
LorenzMeier
approved these changes
May 11, 2018
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This brings 2 changes to the q estimator:
ATT_W_MAGto 0. @nathantsoi this will help with the omnibusf4sd, since it does not have a mag (You will need to enablemodules/attitude_estimator_qandmodules/local_position_estimatorin the cmake config and setSYS_MC_EST_GROUPto 1). We should consider using these params as default on that board.ATT_ACC_COMP.This could use a bit more testing, also on fixed-wing.
Note that this PR does not change the default behavior.
@MaEtUgR @RomanBapst