-
-
Notifications
You must be signed in to change notification settings - Fork 85
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Complementary filter implementation-documentation discrepancies #84
Comments
Hi, yes, there have been some discrepancies between the implementation and the documentation due to different reference frames being used, and weren't changed in the documentation. The negation of the signs were to ensure the right angle (and not its opposite) was being estimated. Most of these troubles came from its implementation with Quaternions. However, a new implementation of the Complementary Filter has been done with roll-pitch-yaw angles, which is a more widespread version in practice. These angles are then converted to Quaternions, Rotation Matrices, etc. I think it is a much simpler and clearer approach. I'll update the documentation and its unit tests, so that we can have a Complementary Filter working as expected, and properly explained too. |
The documentation:
https://ahrs.readthedocs.io/en/latest/filters/complementary.html
Attitude propagation
The following line adds a sign that seems to contradict the documentation. Why is that?
ahrs/ahrs/filters/complementary.py
Lines 247 to 253 in 9e02c5d
Filter
Negate
q_am
in some cases? Why?ahrs/ahrs/filters/complementary.py
Lines 315 to 319 in 9e02c5d
However, the filter seems to work OK...
The text was updated successfully, but these errors were encountered: