Currently, when the IMU is disconnected, the code immediately start assuming that the IMU angle is zero. However, this is not good (e.g., if there is a momentary issue with IMU communication that is quickly resolved). Instead, the code should store the latest IMU angle and use that if communications are disrupted.
Currently, when the IMU is disconnected, the code immediately start assuming that the IMU angle is zero. However, this is not good (e.g., if there is a momentary issue with IMU communication that is quickly resolved). Instead, the code should store the latest IMU angle and use that if communications are disrupted.