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ardupilot/libraries/AP_AHRS/examples
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Andrew Tridgell 3a41ad8e7c AHRS: normalize the ge vector in drift correction, and use barometer 
The normalisation ensures the error term scales uniformly with
different accelerations.

The barometer is used for vertical acceleration estimation
 		2012-06-27 16:01:50 +10:00
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AHRS_Test AHRS: normalize the ge vector in drift correction, and use barometer 2012-06-27 16:01:50 +10:00
DCM_Test AHRS: normalize the ge vector in drift correction, and use barometer 2012-06-27 16:01:50 +10:00