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Sep 11, 2007, 01:41 AM
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Death of algebra


Well, squeezed in some flights where we reset the integrated acceleration to every GPS reading instead of blending it. The delay in the velocity estimate was gone but the output was horrible. Go back to this nugget of information

https://www.rcgroups.com/forums/atta...mentid=1289587

and U'll C the Kalman filter had an edge in position estimation. With fixed wings, U can get away with algebra & GPS, but the trick with copters is the extra position information only a Kalman filter seems to provide.

The advantage with algebraic navigation is a 208Hz update rate. The Kalman can only do 30Hz on this processor, but even with 30 it had the position estimating power. 5Hz GPS is on the way nevertheless.
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