This PR adds an example sketch to the library that computes the standard deviation of the sensor's (IMU and Barometer) used to get the data required for the estimations.
Three of the parameters that are required for performing the estimations are:
Accelerometer standard deviation
Gyrometer standard deviation
Barometer standard deviation
Instead of wild guessing these values it is better to actually compute them and use them for the estimations. This PR adds an example sketch that computes them assuming the IMU is an MPU9250 and the barometer an MS5637. If other sensors are used the example sketch has to be adapted accordingly.
This PR also modifies the estimator parameters according to the results obtained from running the sketch just explained.
Finally, the acceleration threshold has been set to the value specified in the reference paper.
Expected behavior after merge
Both precision and accuracy of the estimations are improved
Issue/Feature this PR addresses
This PR adds an example sketch to the library that computes the standard deviation of the sensor's (IMU and Barometer) used to get the data required for the estimations.
Three of the parameters that are required for performing the estimations are:
Instead of wild guessing these values it is better to actually compute them and use them for the estimations. This PR adds an example sketch that computes them assuming the IMU is an MPU9250 and the barometer an MS5637. If other sensors are used the example sketch has to be adapted accordingly.
This PR also modifies the estimator parameters according to the results obtained from running the sketch just explained.
Finally, the acceleration threshold has been set to the value specified in the reference paper.
Expected behavior after merge
Both precision and accuracy of the estimations are improved