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# att_ekf
Extented Kalman filter for attitude estimation using imu and magnetic filed.
![att_ekf](https://cloud.githubusercontent.com/assets/3192355/13601467/57c2536e-e56b-11e5-82d5-25c8cbc9657f.png)
![att_ekf2](https://cloud.githubusercontent.com/assets/3192355/13601468/57edef42-e56b-11e5-927f-b453604b09f0.png)
# reference:
https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf