The attitude state estimation bias state should be initialised to the gyroscope sensor values (perhaps mean value of a few) rather than zero. Since the quadrotor will always be stationary upon application startup, any gyroscope readings will be due to sensor bias.
The attitude state estimation bias state should be initialised to the gyroscope sensor values (perhaps mean value of a few) rather than zero. Since the quadrotor will always be stationary upon application startup, any gyroscope readings will be due to sensor bias.