2019-05-27, 11:59 PM
The main corrections are based on compass and yaw gyro. The accelerometers as well as compass are used to compensate gyros from drift. So in this way, it does use the accelerometers.
If you are asking if it makes corrections from pitching or rolling motion... I did experiment with this in the ocean and did not find useful results. I think it is mostly useful in gusting winds to react to roll from a wind gust, and I have plans to support this in the "wind pilot" which is a pilot that does not rely on the compass at all, instead it directly reacts to wind sensors... So steering a gps course on the wind pilot, it will follow the wind shifts to some extent.
If you are asking if it makes corrections from pitching or rolling motion... I did experiment with this in the ocean and did not find useful results. I think it is mostly useful in gusting winds to react to roll from a wind gust, and I have plans to support this in the "wind pilot" which is a pilot that does not rely on the compass at all, instead it directly reacts to wind sensors... So steering a gps course on the wind pilot, it will follow the wind shifts to some extent.