/AHRS-for-quadcopter

• Attitude Estimation based on Extended Kalman Filtering method. • Gyro bias estimation to improve the robustness of the algorithm. • Attitude prediction to be done using gyro output. • Attitude is updated using accelerometer and magnetometer output.

AHRS-for-quadcopter

• Attitude Estimation based on Extended Kalman Filtering method. • Gyro bias estimation to improve the robustness of the algorithm. • Attitude prediction to be done using gyro output. • Attitude is updated using accelerometer and magnetometer output.

Please refer the attached pdf in this section for math equations and c code for AHRS code

This code has been tested on quadcopter and can be used as it is without any modification