Full Paper (excerpt on pixhawk site)

I found an excerpt from a paper here https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf
and since it’s on the pixhawk website, I wondering if anyone here knew the author or where I could find the full paper. It looks like it might be part of a masters thesis from someone at ETH Zurich, but this is the only section I have found.

I would greatly appreciate if anyone can help me find this.


Never found it.

Let me know if you have any success.


Will do, it’d be really helpful to see the rest of the estimators, not to mention how well this estimator predicts the angular accelerations.