att_ekf

Extented Kalman filter for attitude estimation using imu and magnetic filed.

How to run the code

cd catkin_ws/src
git clone git@github.com:libing64/att_ekf.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="att_ekf"
roslaunch att_ekf att_ekf.launch

#rosbag for test

1. download the rosbag

   https://drive.google.com/folderview?id=0B4hFvojO5r3sQ01WSHRkWFU2WVE&usp=sharing

2. replay the rosbag

   rosbag play 2016-02-29-19-05-57.bag

reference:

https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf