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How does ardupilot implement EKF?

How does ardupilot implement IMU EKF? Does it use quaternions or something else? Error state formulation or standard EKF? The documents I read didn't give the details of the implementation.
FourierFlux's user avatar
2 votes
0 answers

How to implement sensor fusion with IMU and GPS

I have a 9-axis IMU (MPU9250) and a GPS module and I'm considering using other sensors later,...
Arcaniaco's user avatar
  • 318
5 votes
1 answer

Eliminate effect of Vibrations on IMU

I am testing pitch orientation correction of Quadcopter and ended up in a issue. I have a test setup with one degree of freedom to test orientation correction. I have fixed the drone to the setup and ...
TheLazy's user avatar
  • 441