Drone Control and the Complementary Filter

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Let's talk about the complementary filter and how we can use it to estimate the attitude of a drone using an IMU. It is such a dead simple filter, which is a good reason to learn it, but it’s also practical because it produces nice results when blending measurements from two different sensors.

Check out my videos on Drone Simulation and Control: http://bit.ly/2OnlW5m

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Errata:
~2:23 - I state that the accelerometer is measuring the acceleration due to gravity, when in fact it's measuring the acceleration caused by the normal force from the ground. So it's directly up and the exact opposite direction of gravity! Whereas, an accelerometer in free fall would measure no acceleration at all even though it would be accelerating. So the "convert to angle" block would also take care of this sign flip.

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