KiXAHRS_ONE update 1.2

Kiedro · Joined: 08 Mar 2006 Posts: 81

kiXAHRS_ONE Update 1.2
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Add ons:
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(1) Quaternion math. Quaternions are alternative representations of rotations in 3D space. They have a little speed advantage compared to the "classical" DCM approach as the code can be written in a more "discrete" way compared to matrix algebra. Bascomized quaternion math is based on Madgwick's implementation of Mahoney's method. ( http://code.google.com/p/imumargalgorithm30042010sohm/downloads/list) I just added a number of intermediate variables to squeeze out a bit more speed (about 10% for the core computation). Quaternion and DCM matrix math can be selected from the main menu.

(2) PI(D) parameter entry. Parameters for phase I and II in both methods can be entered via the main menu and stored in EEPROM. This allows a more easy adoptation to a given type of vehicle/AHRS-application without needing compilation.

(3) Context-sensitive menus: Selectable items depend on other choices. E.g. the data stream menu will show DCM and omega_I as options if DCM was selected from the main menu. When Quaternion math was selected an outstream option exists for the quaternion components. Euler angles and previous formats have been kept. Kixline outstream for visualisation using AeroSimRC is both available from DCM and quaternion math.

Have fun
Natalius