python project to caculate the AHRS, method: pure integration,accelmeter, EKF,complementary, SO3

window, linux

python3 (3.5 or newer)

main.py -s <sensorfile> -a <attfile> -m <method>  

　-s and -a are cmd args to give the datafile name ,the data format is px4 ulog
　　-s give the sensor_compined file
　　-a give the vechile attitude file
　-m to git the attitude cculator method
　　i:integration
　　a:accelameter
　　c:complementary
　　s:SO3 　　e:ekf

the test data are in test folder, below is one test result

python main.py -m c