The choice of the variable names a_Kb and a_Kg were unfavorable. The variables are the acceleration in the body-fixed coordinate system b and earth-fixed coordinate system g. The index K indicates a motion from the body relative to the earth. However, the variables a_Kg and a_Kb are defined to represent the acceleration measured by the IMU and thus contain the gravitational acceleration. To avoid confusion in the future, the "K"s in the variable names have been removed. Moreover, the comments in the functions were supplemented, so that the definition of the variables becomes clear.
Unfortunately, this change will cause errors in old projects.
The choice of the variable names a_Kb and a_Kg were unfavorable. The variables are the acceleration in the body-fixed coordinate system b and earth-fixed coordinate system g. The index K indicates a motion from the body relative to the earth. However, the variables a_Kg and a_Kb are defined to represent the acceleration measured by the IMU and thus contain the gravitational acceleration. To avoid confusion in the future, the "K"s in the variable names have been removed. Moreover, the comments in the functions were supplemented, so that the definition of the variables becomes clear. Unfortunately, this change will cause errors in old projects.