// Kalman filter module
float Q_angle = 0.001;
float Q_gyro = 0.003;
float R_angle = 0.03;Hi Kas, awesome work on the project! My mate at uni was showing this to me today looks cool, great progress!
I am also working with an IMU a 6dof one and just wondering for your kalman filter above, how did you find the covariance matrices for measurement error and process error? lke what did you do and stuff?
Because im upto that aswell, i have my state space of the kalman filter, just dont understand how to get the covariance matrix.
Any help would be appreciated.Thanks!!
Kalman filter module works pretty well but is still a Black Box for me
I tried hard to understand and finally gave up. :o
This code is a modified version from the AeroQuad project from Ted Carancho
http://code.google.com/p/aeroquad/
I spent some hours playing with Q_angle, Q_gyro and R_angle, and finally reverted to the original parameters
Some additional lectures for the brave:
http://academic.csuohio.edu/simond/courses/eec644/kalman.pdf