Complementary filter

Hi everyone, i’m trying to create a new complementary filter using data coming from gyroscope, accelerometers and UWB yaw (the latter provided by a code i wrote in an Arduino board). My intention is to filter the yaw data coming from UWB with the ones from the other sensors. However here are my doubts:

  • should i do this creating a new library?
  • how can i recall sensors data in this new library?
  • once the code is ready, how can i pass the new yaw to the EKF (the idea is to use this filtered source when the magnetometer is not reliable in indoor fly)?
    I would appreciate any suggestion/help and/or any document where i can understand how to proceed. Thank you
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Use ArduCopter 4.2.3 and implement the filter in lua scripüting.