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ahrs cmpl: directly compute initial quaternion from accel and mag instead of using euler angles

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closes #132
This commit is contained in:
Felix Ruess
2012-02-20 20:27:50 +01:00
parent f1656ef01e
commit b422aa492f
5 changed files with 98 additions and 16 deletions
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conf/airframes/fraser_lisa_m_rotorcraft.xml
+4 -1
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@@ -25,6 +25,9 @@
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="euler"/>
<subsystem name="ahrs" type="int_cmpl_quat"/>
<!--subsystem name="ahrs" type="float_cmpl">
<define name="AHRS_PROPAGATE_QUAT"/>
</subsystem-->
</firmware>
<firmware name="setup">
@@ -55,7 +58,7 @@
</firmware>
<modules main_freq="512">
<!--load name="sys_mon.xml"/-->
<load name="sys_mon.xml"/>
</modules>
<commands>