Hello,

I am trying to implement an attitude filter that can help to estimate roll/pitch angles from gyro/accelerometer/magnetometer sensor for a helicopter with several manoevres. The problem is that when external acceleration appears, the attitude estimation is disturbed and gives large error. I tried to find the solution from several articles (reject correction from accelero when high acceleration or adapt the covariance matrix in function of accelero output) but they didn't work. Another idea is to use magnetometer to correct gyro drift but it didn't work either (or I got a bad method).

Do anyone have any method/reference for this situation?

Thank you,