This is an example project for reference that I did before moving on to the C++ implementation in Pixhawk. For the pixhawk implementation please visit pixhawk_ekf repo where the same code will be implemented in C++. For this code to work you also need to visit that repository and build and flash the code from that repo.
Uses ros_serial to get imu messages on imu\data_raw topic as the imu_tools will listen on that topic. The imu messages are published
at 100hz using polling and the interrupt based approach will be implemented in the original
C++ repo.
Visualization cube and pose messages are visualized using rviz markers and PoseStamped messages.
- Use gyro bias in EKF state
- Try to use magnetometer in pixhawk
- Seperate ros and EKF implementation
- Calibrate Accelerometer and if(magentometer)
Quaternion derivative https://math.stackexchange.com/questions/1896379/how-to-use-the-quaternion-derivative
Manifold toolkit https://arxiv.org/pdf/1107.1119.pdf
Quaternion kinematics http://www.iri.upc.edu/people/jsola/JoanSola/objectes/notes/kinematics.pdf
Fundermentals of Small unmanned aircraft flight https://www.jhuapl.edu/Content/techdigest/pdf/V31-N02/31-02-Barton.pdf