Edit by exbot.net
If you haven't had a chance to read the documentation for Bill Premerlani 6 DOF UAV development board, you should. It is 35 pages of the best education you'll get on IMU-based autopilots, including theory, code and usage instructions. All written in clear, easy to understand plain English. Bill's done a terrific job on this one, and I hope more people will start to use his board, which I think is the best open source IMU-based autopilot development platform on the market.
A three-axis IMU-based autopilot board
For the most up to date information, visit the UAVDevBoard website.
The following are links to important postings regarding algorithmic innovations that have been incorporated into the MatrixPilot autopilot and in most instances, also adopted into ArduPlane and ArduCopter.
- Main discussion forum
- Robust estimator of the direction cosine matrix
- Wind estimation without an airspeed sensor
- Automatic nulling of magnetometer offsets.
- An improved method to account for acceleration in gyro drift computations.