Following from #29/#51, we added an orientation measurement based on an approximation from the acceleration angles. However, this is not entirely accurate if the IMU is also experiencing acceleration (besides-gravity). Dynamics suggested combining the acceleration angles with numeric integration from the gyroscope using Kalman filtering to get a more accurate orientation.
Implement the updated measurement system in Gyroscope::read_orientation
Following from #29/#51, we added an orientation measurement based on an approximation from the acceleration angles. However, this is not entirely accurate if the IMU is also experiencing acceleration (besides-gravity). Dynamics suggested combining the acceleration angles with numeric integration from the gyroscope using Kalman filtering to get a more accurate orientation.
Gyroscope::read_orientation