PX4/Firmware — pull request #284 by limhyon (2013-05-23 06:29:32+00:00)
Title: Nonlinear complementary SO(3) filter has been implemented.

Hi all.
I have implemented nonlinear complementary SO(3) filter.
I flew my quadrotor with this new attitude observer application.
Few things remaining for future works.
- Optimal gain : someone can find good gain for px4fmu.
- Filter convergence rate when system started : filter converges slowly when system starts. I suspect the orientation of accelerometer.
- Madgwick MARG algorithm : Worthy to implemented. Make it selectable with argument.

Anyway, it works.