ahrs_kalman vs quaternion

[salviador]

Hi, I have a doubt. Why the quadricopter use quaternion and not kalman ?
Is there a technical reason?

I thought that Kalman filter is better for vibration, why not use in quadricopter?

Thanks!

[Tom]

The quaternion code implementation is much "simpler". It is calculated 250 times per seconds (this is needed for a quadrocopter). The kalman code requires a lot more computational efforts and it executed only 50 times per second.