Henrik,

one question regarding your posted attachment "kalman.zip". In the source "tilt.c" a header file "parameter.h" is linked, which is not included in your file "kalman.zip". Also I could not find these files in the latest releases of the autopilot UAV command and control project (version 2.5, 2.4 or 2.3). Which project at sourceforge has developed these files?
Can you post also the file parameter.h?

Thanks in advance, uffi.