ATTITUDE

This is an AHRS for UAV, the algorithm is mainly come from the following papers:

Euston M, Coote P, Mahony R, et al. A complementary filter for attitude estimation of a fixed-wing UAV[C]. Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on. IEEE, 2008: 340-345.

Mahony R, Hamel T, Pflimlin J M. Nonlinear complementary filters on the special orthogonal group[J]. IEEE Transactions on automatic control, 2008, 53(5): 1203-1218.

Environment:

  1. STM32F407
  2. Keil uVersion 5
  3. Windows 7/8/10

Demo Video:

Note: This source code is only a part of the demo video source code!

Schematic Diagram:

The Schematic diagram could be found at schem.

Another Project:

Based on our quadrotor aircraft's control system and Pixhawk project, we design a control system for flying skateboard.

Credits

Tong Yuanyang: This code is based on his code.
Yu Xinglin: The schematic diagram was made by him.
Huang Feifei: He is our perfect UAV flyer.
Hao Xingxing: The video is made by him.

wbhu/IMUforUAV