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You will have to specify the full quaternion in any case and that is because each w,x,y and z are a function of all the Euler angles. Some ways to get by could be: If you are concerned about an EKF generating noisy output in the other two angles: in the update step, you can hard code these known angles If you want to control just one angle: just extract ...


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You are correct, you do not really need an accelerometer for computing optical flow - just the angular velocities along with an altitude estimate will be sufficient for computing velocities in global, metric units. For example, the commercially available PX4Flow optical camera does not contain an accelerometer, only a gyroscope. But in the case of the ...


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