Initial work of so3 nonlinear complementary filter

4 files changed, 694 insertions, 0 deletions

diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
new file mode 100755
index 000000000..381b0df75
--- /dev/null
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
@@ -0,0 +1,610 @@
+/*
+ * @file attitude_estimator_so3_comp_main.c
+ *
+ * Nonlinear SO3 filter for Attitude Estimation.
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <poll.h>
+#include <fcntl.h>
+#include <float.h>
+#include <nuttx/sched.h>
+#include <sys/prctl.h>
+#include <termios.h>
+#include <errno.h>
+#include <limits.h>
+#include <math.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/debug_key_value.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/parameter_update.h>
+#include <drivers/drv_hrt.h>
+
+#include <systemlib/systemlib.h>
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#include "attitude_estimator_so3_comp_params.h"
+#ifdef __cplusplus
+}
+#endif
+
+extern "C" __EXPORT int attitude_estimator_so3_comp_main(int argc, char *argv[]);
+
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int attitude_estimator_so3_comp_task;				/**< Handle of deamon task / thread */
+volatile float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f;					// quaternion of sensor frame relative to auxiliary frame
+
+/**
+ * Mainloop of attitude_estimator_so3_comp.
+ */
+int attitude_estimator_so3_comp_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	fprintf(stderr, "usage: attitude_estimator_so3_comp {start|stop|status} [-p <additional params>]\n\n");
+	exit(1);
+}
+
+/**
+ * The attitude_estimator_so3_comp app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_create().
+ */
+int attitude_estimator_so3_comp_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("attitude_estimator_so3_comp already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		attitude_estimator_so3_comp_task = task_spawn("attitude_estimator_so3_comp",
+					      SCHED_DEFAULT,
+					      SCHED_PRIORITY_MAX - 5,
+					      12400,
+					      attitude_estimator_so3_comp_thread_main,
+					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			printf("\tattitude_estimator_so3_comp app is running\n");
+
+		} else {
+			printf("\tattitude_estimator_so3_comp app not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+//---------------------------------------------------------------------------------------------------
+// Fast inverse square-root
+// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
+float invSqrt(float x) {
+	float halfx = 0.5f * x;
+	float y = x;
+	long i = *(long*)&y;
+	i = 0x5f3759df - (i>>1);
+	y = *(float*)&i;
+	y = y * (1.5f - (halfx * y * y));
+	return y;
+}
+
+void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az, float twoKp, float twoKi, float dt) {
+	float recipNorm;
+	float halfvx, halfvy, halfvz;
+	float halfex, halfey, halfez;
+	float qa, qb, qc;
+
+	// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
+	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
+
+		// Normalise accelerometer measurement
+		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+		ax *= recipNorm;
+		ay *= recipNorm;
+		az *= recipNorm;        
+
+		// Estimated direction of gravity and vector perpendicular to magnetic flux
+		halfvx = q1 * q3 - q0 * q2;
+		halfvy = q0 * q1 + q2 * q3;
+		halfvz = q0 * q0 - 0.5f + q3 * q3;
+	
+		// Error is sum of cross product between estimated and measured direction of gravity
+		halfex = (ay * halfvz - az * halfvy);
+		halfey = (az * halfvx - ax * halfvz);
+		halfez = (ax * halfvy - ay * halfvx);
+
+		// Compute and apply integral feedback if enabled
+		if(twoKi > 0.0f) {
+			integralFBx += twoKi * halfex * dt;	// integral error scaled by Ki
+			integralFBy += twoKi * halfey * dt;
+			integralFBz += twoKi * halfez * dt;
+			gx += integralFBx;	// apply integral feedback
+			gy += integralFBy;
+			gz += integralFBz;
+		}
+		else {
+			integralFBx = 0.0f;	// prevent integral windup
+			integralFBy = 0.0f;
+			integralFBz = 0.0f;
+		}
+
+		// Apply proportional feedback
+		gx += twoKp * halfex;
+		gy += twoKp * halfey;
+		gz += twoKp * halfez;
+	}
+	
+	// Integrate rate of change of quaternion
+	gx *= (0.5f * dt);		// pre-multiply common factors
+	gy *= (0.5f * dt);
+	gz *= (0.5f * dt);
+	qa = q0;
+	qb = q1;
+	qc = q2;
+	q0 += (-qb * gx - qc * gy - q3 * gz);
+	q1 += (qa * gx + qc * gz - q3 * gy);
+	q2 += (qa * gy - qb * gz + q3 * gx);
+	q3 += (qa * gz + qb * gy - qc * gx); 
+	
+	// Normalise quaternion
+	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+	q0 *= recipNorm;
+	q1 *= recipNorm;
+	q2 *= recipNorm;
+	q3 *= recipNorm;
+}
+
+void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz, float twoKp, float twoKi, float dt) {
+	float recipNorm;
+	float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;  
+	float hx, hy, bx, bz;
+	float halfvx, halfvy, halfvz, halfwx, halfwy, halfwz;
+	float halfex, halfey, halfez;
+	float qa, qb, qc;
+
+	// Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation)
+	if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
+		MahonyAHRSupdateIMU(gx, gy, gz, ax, ay, az, twoKp, twoKi, dt);
+		return;
+	}
+
+	// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
+	if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
+
+		// Normalise accelerometer measurement
+		recipNorm = invSqrt(ax * ax + ay * ay + az * az);
+		ax *= recipNorm;
+		ay *= recipNorm;
+		az *= recipNorm;     
+
+		// Normalise magnetometer measurement
+		recipNorm = invSqrt(mx * mx + my * my + mz * mz);
+		mx *= recipNorm;
+		my *= recipNorm;
+		mz *= recipNorm;   
+
+        // Auxiliary variables to avoid repeated arithmetic
+        q0q0 = q0 * q0;
+        q0q1 = q0 * q1;
+        q0q2 = q0 * q2;
+        q0q3 = q0 * q3;
+        q1q1 = q1 * q1;
+        q1q2 = q1 * q2;
+        q1q3 = q1 * q3;
+        q2q2 = q2 * q2;
+        q2q3 = q2 * q3;
+        q3q3 = q3 * q3;   
+
+        // Reference direction of Earth's magnetic field
+        hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
+        hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0.5f - q1q1 - q3q3) + mz * (q2q3 - q0q1));
+        bx = sqrt(hx * hx + hy * hy);
+        bz = 2.0f * (mx * (q1q3 - q0q2) + my * (q2q3 + q0q1) + mz * (0.5f - q1q1 - q2q2));
+
+		// Estimated direction of gravity and magnetic field
+		halfvx = q1q3 - q0q2;
+		halfvy = q0q1 + q2q3;
+		halfvz = q0q0 - 0.5f + q3q3;
+        halfwx = bx * (0.5f - q2q2 - q3q3) + bz * (q1q3 - q0q2);
+        halfwy = bx * (q1q2 - q0q3) + bz * (q0q1 + q2q3);
+        halfwz = bx * (q0q2 + q1q3) + bz * (0.5f - q1q1 - q2q2);  
+	
+		// Error is sum of cross product between estimated direction and measured direction of field vectors
+		halfex = (ay * halfvz - az * halfvy) + (my * halfwz - mz * halfwy);
+		halfey = (az * halfvx - ax * halfvz) + (mz * halfwx - mx * halfwz);
+		halfez = (ax * halfvy - ay * halfvx) + (mx * halfwy - my * halfwx);
+
+		// Compute and apply integral feedback if enabled
+		if(twoKi > 0.0f) {
+			integralFBx += twoKi * halfex * dt;	// integral error scaled by Ki
+			integralFBy += twoKi * halfey * dt;
+			integralFBz += twoKi * halfez * dt;
+			gx += integralFBx;	// apply integral feedback
+			gy += integralFBy;
+			gz += integralFBz;
+		}
+		else {
+			integralFBx = 0.0f;	// prevent integral windup
+			integralFBy = 0.0f;
+			integralFBz = 0.0f;
+		}
+
+		// Apply proportional feedback
+		gx += twoKp * halfex;
+		gy += twoKp * halfey;
+		gz += twoKp * halfez;
+	}
+	
+	// Integrate rate of change of quaternion
+	gx *= (0.5f * dt);		// pre-multiply common factors
+	gy *= (0.5f * dt);
+	gz *= (0.5f * dt);
+	qa = q0;
+	qb = q1;
+	qc = q2;
+	q0 += (-qb * gx - qc * gy - q3 * gz);
+	q1 += (qa * gx + qc * gz - q3 * gy);
+	q2 += (qa * gy - qb * gz + q3 * gx);
+	q3 += (qa * gz + qb * gy - qc * gx); 
+	
+	// Normalise quaternion
+	recipNorm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
+	q0 *= recipNorm;
+	q1 *= recipNorm;
+	q2 *= recipNorm;
+	q3 *= recipNorm;
+}
+
+/*
+ * [Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst)
+ */
+
+/*
+ * EKF Attitude Estimator main function.
+ *
+ * Estimates the attitude recursively once started.
+ *
+ * @param argc number of commandline arguments (plus command name)
+ * @param argv strings containing the arguments
+ */
+int attitude_estimator_so3_comp_thread_main(int argc, char *argv[])
+{
+
+const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
+
+	float dt = 0.005f;
+	
+	/* output euler angles */
+	float euler[3] = {0.0f, 0.0f, 0.0f};
+
+	float Rot_matrix[9] = {1.f,  0,  0,
+			      0,  1.f,  0,
+			      0,  0,  1.f
+			     };		/**< init: identity matrix */
+
+	float acc[3] = {0.0f, 0.0f, 0.0f};
+	float gyro[3] = {0.0f, 0.0f, 0.0f};
+	float mag[3] = {0.0f, 0.0f, 0.0f};
+
+	// print text
+	printf("Nonlinear SO3 Attitude Estimator initialized..\n\n");
+	fflush(stdout);
+
+	int overloadcounter = 19;
+
+	/* store start time to guard against too slow update rates */
+	uint64_t last_run = hrt_absolute_time();
+
+	struct sensor_combined_s raw;
+	memset(&raw, 0, sizeof(raw));
+	struct vehicle_attitude_s att;
+	memset(&att, 0, sizeof(att));
+	struct vehicle_status_s state;
+	memset(&state, 0, sizeof(state));
+
+	uint64_t last_data = 0;
+	uint64_t last_measurement = 0;
+
+	/* subscribe to raw data */
+	int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
+	/* rate-limit raw data updates to 200Hz */
+	orb_set_interval(sub_raw, 4);
+
+	/* subscribe to param changes */
+	int sub_params = orb_subscribe(ORB_ID(parameter_update));
+
+	/* subscribe to system state*/
+	int sub_state = orb_subscribe(ORB_ID(vehicle_status));
+
+	/* advertise attitude */
+	orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
+
+	int loopcounter = 0;
+	int printcounter = 0;
+
+	thread_running = true;
+
+	/* advertise debug value */
+	// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
+	// orb_advert_t pub_dbg = -1;
+
+	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
+	// XXX write this out to perf regs
+
+	/* keep track of sensor updates */
+	uint32_t sensor_last_count[3] = {0, 0, 0};
+	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
+
+	struct attitude_estimator_so3_comp_params so3_comp_params;
+	struct attitude_estimator_so3_comp_param_handles so3_comp_param_handles;
+
+	/* initialize parameter handles */
+	parameters_init(&so3_comp_param_handles);
+
+	uint64_t start_time = hrt_absolute_time();
+	bool initialized = false;
+
+	float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
+	unsigned offset_count = 0;
+
+	/* register the perf counter */
+	perf_counter_t so3_comp_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_so3_comp");
+
+	/* Main loop*/
+	while (!thread_should_exit) {
+
+		struct pollfd fds[2];
+		fds[0].fd = sub_raw;
+		fds[0].events = POLLIN;
+		fds[1].fd = sub_params;
+		fds[1].events = POLLIN;
+		int ret = poll(fds, 2, 1000);
+
+		if (ret < 0) {
+			/* XXX this is seriously bad - should be an emergency */
+		} else if (ret == 0) {
+			/* check if we're in HIL - not getting sensor data is fine then */
+			orb_copy(ORB_ID(vehicle_status), sub_state, &state);
+
+			if (!state.flag_hil_enabled) {
+				fprintf(stderr,
+					"[att so3_comp] WARNING: Not getting sensors - sensor app running?\n");
+			}
+
+		} else {
+
+			/* only update parameters if they changed */
+			if (fds[1].revents & POLLIN) {
+				/* read from param to clear updated flag */
+				struct parameter_update_s update;
+				orb_copy(ORB_ID(parameter_update), sub_params, &update);
+
+				/* update parameters */
+				parameters_update(&so3_comp_param_handles, &so3_comp_params);
+			}
+
+			/* only run filter if sensor values changed */
+			if (fds[0].revents & POLLIN) {
+
+				/* get latest measurements */
+				orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
+
+				if (!initialized) {
+
+					gyro_offsets[0] += raw.gyro_rad_s[0];
+					gyro_offsets[1] += raw.gyro_rad_s[1];
+					gyro_offsets[2] += raw.gyro_rad_s[2];
+					offset_count++;
+
+					if (hrt_absolute_time() - start_time > 3000000LL) {
+						initialized = true;
+						gyro_offsets[0] /= offset_count;
+						gyro_offsets[1] /= offset_count;
+						gyro_offsets[2] /= offset_count;
+					}
+
+				} else {
+
+					perf_begin(so3_comp_loop_perf);
+
+					/* Calculate data time difference in seconds */
+					dt = (raw.timestamp - last_measurement) / 1000000.0f;
+					last_measurement = raw.timestamp;
+					uint8_t update_vect[3] = {0, 0, 0};
+
+					/* Fill in gyro measurements */
+					if (sensor_last_count[0] != raw.gyro_counter) {
+						update_vect[0] = 1;
+						sensor_last_count[0] = raw.gyro_counter;
+						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
+						sensor_last_timestamp[0] = raw.timestamp;
+					}
+
+					gyro[0] =  raw.gyro_rad_s[0] - gyro_offsets[0];
+					gyro[1] =  raw.gyro_rad_s[1] - gyro_offsets[1];
+					gyro[2] =  raw.gyro_rad_s[2] - gyro_offsets[2];
+
+					/* update accelerometer measurements */
+					if (sensor_last_count[1] != raw.accelerometer_counter) {
+						update_vect[1] = 1;
+						sensor_last_count[1] = raw.accelerometer_counter;
+						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
+						sensor_last_timestamp[1] = raw.timestamp;
+					}
+
+					acc[0] = raw.accelerometer_m_s2[0];
+					acc[1] = raw.accelerometer_m_s2[1];
+					acc[2] = raw.accelerometer_m_s2[2];
+
+					/* update magnetometer measurements */
+					if (sensor_last_count[2] != raw.magnetometer_counter) {
+						update_vect[2] = 1;
+						sensor_last_count[2] = raw.magnetometer_counter;
+						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
+						sensor_last_timestamp[2] = raw.timestamp;
+					}
+
+					mag[0] = raw.magnetometer_ga[0];
+					mag[1] = raw.magnetometer_ga[1];
+					mag[2] = raw.magnetometer_ga[2];
+
+					uint64_t now = hrt_absolute_time();
+					unsigned int time_elapsed = now - last_run;
+					last_run = now;
+
+					if (time_elapsed > loop_interval_alarm) {
+						//TODO: add warning, cpu overload here
+						// if (overloadcounter == 20) {
+						// 	printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
+						// 	overloadcounter = 0;
+						// }
+
+						overloadcounter++;
+					}
+
+					static bool const_initialized = false;
+
+					/* initialize with good values once we have a reasonable dt estimate */
+					if (!const_initialized && dt < 0.05f && dt > 0.005f) {
+						dt = 0.005f;
+						parameters_update(&so3_comp_param_handles, &so3_comp_params);
+						const_initialized = true;
+					}
+
+					/* do not execute the filter if not initialized */
+					if (!const_initialized) {
+						continue;
+					}
+
+					uint64_t timing_start = hrt_absolute_time();
+
+					MahonyAHRSupdate(gyro[0],gyro[1],gyro[2],acc[0],acc[1],acc[2],mag[0],mag[1],mag[2],so3_comp_params.Kp,so3_comp_params.Ki, dt);
+
+					float aSq = q0*q0;
+					float bSq = q1*q1;
+					float cSq = q2*q2;
+					float dSq = q3*q3;
+
+					Rot_matrix[0] = aSq + bSq - cSq - dSq;
+        				Rot_matrix[1] = 2.0 * (b * c - a * d);
+        				Rot_matrix[2] = 2.0 * (a * c + b * d);
+        				Rot_matrix[3] = 2.0 * (b * c + a * d);
+        				Rot_matrix[4] = aSq - bSq + cSq - dSq;
+        				Rot_matrix[5] = 2.0 * (c * d - a * b);
+        				Rot_matrix[6] = 2.0 * (b * d - a * c);
+        				Rot_matrix[7] = 2.0 * (a * b + c * d);
+        				Rot_matrix[8] = aSq - bSq - cSq + dSq;
+
+					/* Compute Euler angle */
+					float theta = asinf(-Rot_matrix[6]);
+					euler[1] = theta;
+
+					if(fabsf(theta - M_PI_2_F) < 1.0e-3f){
+						euler[0] = 0.0f;
+						euler[2] = atan2f(Rot_matrix[5] - Rot_matrix[1], Rot_matrix[2] + Rot_matrix[4] - euler[0]);
+					} else if (fabsf(theta + M_PI_2_F) < 1.0e-3f) {
+						euler[0] = 0.0f;
+						euler[2] = atan2f(Rot_matrix[5] - Rot_matrix[1], Rot_matrix[2] + Rot_matrix[4] - euler[0]);
+					} else {
+						euler[0] = atan2f(Rot_matrix[7], Rot_matrix[8]);
+						euler[2] = atan2f(Rot_matrix[3], Rot_matrix[0]);
+					}
+
+					/* swap values for next iteration, check for fatal inputs */
+					if (isfinite(euler[0]) && isfinite(euler[1]) && isfinite(euler[2])) {
+						/* Do something */
+					} else {
+						/* due to inputs or numerical failure the output is invalid, skip it */
+						continue;
+					}
+
+					if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator so3_comp] sensor data missed! (%llu)\n", raw.timestamp - last_data);
+
+					last_data = raw.timestamp;
+
+					/* send out */
+					att.timestamp = raw.timestamp;
+
+					// XXX Apply the same transformation to the rotation matrix
+					att.roll = euler[0] - so3_comp_params.roll_off;
+					att.pitch = euler[1] - so3_comp_params.pitch_off;
+					att.yaw = euler[2] - so3_comp_params.yaw_off;
+
+					/* FIXME : This can be a problem for rate controller. Rate in body or inertial?
+					att.rollspeed = x_aposteriori[0];
+					att.pitchspeed = x_aposteriori[1];
+					att.yawspeed = x_aposteriori[2];
+					att.rollacc = x_aposteriori[3];
+					att.pitchacc = x_aposteriori[4];
+					att.yawacc = x_aposteriori[5];
+					*/
+
+					//att.yawspeed =z_k[2] ;
+					/* copy offsets */
+					//memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
+
+					/* copy rotation matrix */
+					memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
+					att.R_valid = true;
+
+					if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {
+						// Broadcast
+						orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
+
+					} else {
+						warnx("NaN in roll/pitch/yaw estimate!");
+					}
+
+					perf_end(so3_comp_loop_perf);
+				}
+			}
+		}
+
+		loopcounter++;
+	}
+
+	thread_running = false;
+
+	return 0;
+}
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
new file mode 100755
index 000000000..bf0f49db8
--- /dev/null
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c
@@ -0,0 +1,44 @@
+/*
+ * @file attitude_estimator_so3_comp_params.c
+ *
+ * Parameters for SO3 complementary filter
+ */
+
+#include "attitude_estimator_so3_comp_params.h"
+
+/* This is filter gain for nonlinear SO3 complementary filter */
+PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f);
+PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.0f);
+
+/* offsets in roll, pitch and yaw of sensor plane and body */
+PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
+
+int parameters_init(struct attitude_estimator_ekf_param_handles *h)
+{
+	/* Filter gain parameters */
+	h->Kp = 	param_find("SO3_COMP_KP");
+	h->Ki = 	param_find("SO3_COMP_KI");
+
+	/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
+	h->roll_off  =	param_find("ATT_ROLL_OFFS");
+	h->pitch_off =	param_find("ATT_PITCH_OFFS");
+	h->yaw_off   =	param_find("ATT_YAW_OFFS");
+
+	return OK;
+}
+
+int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
+{
+	/* Update filter gain */
+	param_get(h->Kp, &(p->Kp));
+	param_get(h->Ki, &(p->Ki));
+
+	/* Update attitude offset */
+	param_get(h->roll_off, &(p->roll_off));
+	param_get(h->pitch_off, &(p->pitch_off));
+	param_get(h->yaw_off, &(p->yaw_off));
+
+	return OK;
+}
diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h
new file mode 100755
index 000000000..2fccec61c
--- /dev/null
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h
@@ -0,0 +1,32 @@
+/*
+ * @file attitude_estimator_so3_comp_params.h
+ *
+ * Parameters for EKF filter
+ */
+
+#include <systemlib/param/param.h>
+
+struct attitude_estimator_so3_comp_params {
+	float Kp;
+	float Ki;
+	float roll_off;
+	float pitch_off;
+	float yaw_off;
+};
+
+struct attitude_estimator_so3_comp_param_handles {
+	param_t Kp, Ki;
+	param_t roll_off, pitch_off, yaw_off;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct attitude_estimator_so3_comp_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p);
diff --git a/src/modules/attitude_estimator_so3_comp/module.mk b/src/modules/attitude_estimator_so3_comp/module.mk
new file mode 100644
index 000000000..92f43d920
--- /dev/null
+++ b/src/modules/attitude_estimator_so3_comp/module.mk
@@ -0,0 +1,8 @@
+#
+# Attitude estimator (Nonlinear SO3 complementary Filter)
+#
+
+MODULE_COMMAND	 = attitude_estimator_so3_comp
+
+SRCS		 = attitude_estimator_so3_comp_main.cpp \
+		   attitude_estimator_so3_comp_params.c