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| author | Hyon Lim (Retina) <limhyon@gmail.com> | 2013-05-29 00:45:02 +1000 |
|---|---|---|
| committer | Hyon Lim (Retina) <limhyon@gmail.com> | 2013-05-29 00:45:02 +1000 |
| commit | 7a2adb22eb3ebec5fd90d1d4fbce3f5dbd61bb3c (patch) | |
| tree | 0abb580d293a0d2ea1cc4d7b0913623a82dd67b5 /src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c | |
| parent | 279028ede47f3f63bddc5896db4a2c2385bbb1cf (diff) | |
| download | px4-firmware-7a2adb22eb3ebec5fd90d1d4fbce3f5dbd61bb3c.tar.gz px4-firmware-7a2adb22eb3ebec5fd90d1d4fbce3f5dbd61bb3c.tar.bz2 px4-firmware-7a2adb22eb3ebec5fd90d1d4fbce3f5dbd61bb3c.zip | |
Visualization code has been added.
Diffstat (limited to 'src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c')
| -rwxr-xr-x | src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c index 068e4340a..1d5e0670a 100755 --- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c +++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c @@ -1,7 +1,19 @@ /* + * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr> + * * @file attitude_estimator_so3_comp_params.c * - * Parameters for SO3 complementary filter + * Implementation of nonlinear complementary filters on the SO(3). + * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer. + * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix. + * + * Theory of nonlinear complementary filters on the SO(3) is based on [1]. + * Quaternion realization of [1] is based on [2]. + * Optmized quaternion update code is based on Sebastian Madgwick's implementation. + * + * References + * [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008 + * [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008 */ #include "attitude_estimator_so3_comp_params.h" |