Gluonpilot

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!

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.