Extended Kalman Filter Math for State Estimation - Software for Autonomous Aerospace - Medium

PHOTO EMBED

Mon Jun 22 2020 19:57:38 GMT+0000 (Coordinated Universal Time)

Saved by @arush 

V3D predictedRPY = qt.ToEulerRPY();
float predictedRoll = predictedRPY.x;
float predictedPitch = predictedRPY.y;
ekfState(6) = (float)predictedRPY.z; // yaw
content_copyCOPY

https://medium.com/building-autonomous-flight-software/the-math-behind-state-estimation-in-aerospace-software-66a15761049c