[Paparazzi-devel] Problems with ahrs Kalman

[Patrick McColl]

Hi,

 

I'm using the ahrs-Kalman code  (paparazzi3 version from koders.com) on a board of my own design.  The board uses Rabbit BL4100 microprocessor board and Analog Devices ADIS16364 gyro/accelerometer and Micromag3 magnetic sensors.

 

The code works fine with small movements but turns unstable after a minute (or so) when I move the board simulating a normal flight.

 

Has anybody experience the same problem?  Is there any way to fix it?

 

While debugging I noticed that the P matrix is symmetric all the time. Is this correct? 

If so, the code can be optimized by calculating only half the matrix and just filling the other half with the calculated values.

 

Thanks,

 

Patrick