VladimirP1
commented
2 years ago The code is actually logging quantized and compressed using rans encoding angular acceleration values. AHRS is running onboard. This means this would also require mag support in the built-in AHRS and mag calibration support.
Will look into this after implemention accel calibration (currently uncalibrated), it should be pretty similar to mag calibration.
Magnetometer readings are useful to calculate better orientation, so it would be nice to have an setting to enable logging magnetometer too