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xioTechnologies / Fusion

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accelerometer error addition during the AHRS updating step. #95

Closed sinitsky96 closed 1 year ago

sinitsky96 commented 1 year ago

Hello, After reading the thesis and going over the code of the revised AHRS, I've noticed the error of a sensor is calculated and stored in the Internal state but i could not find its usage during the updating step. Would very much appreciate the help. Thank you.

xioTechnologies commented 1 year ago

The error in inclination and heading is used to calculate the feedback on lines 143 and 172 respectively. These feedback terms are then applied on line 188.

sinitsky96 commented 1 year ago

Thank you very much.