Is it possible to get the orientation vector/global acceleration?

juangallostra / AltitudeEstimation

A two-step Kalman/Complementary filter for Estimation of Vertical Position using an IMU-Barometer sytem

MIT License

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Is it possible to get the orientation vector/global acceleration? #23

Open Nv7-GitHub opened 3 months ago

Nv7-GitHub commented 3 months ago

Is it possible to get the internal filtered orientation vector? I see that the vertical acceleration is found in kalman.estimate, how can I change this to get the horizontal accelerometer readings too?