Quadcopter Navigation System with Madgwick and Kalman Filter

Описание

I've embedded a low cost navigation system on a quadcopter.

Using sensors like MPU9250 and GPS u-blox NEO 6M connected on a ESP 32 microcontroller, attitude is estimated by Madgwick filter while displacement and velocity is estimated by a linear Kalman filter.


The visualization panel with compass, attitude indicator and map was designed using QtCreator. The displacement plot was animated using Python.