2023-12-19, 11:29 PM
You're asking if the roll rate is derived directly from the Gyro, from a filter applied to the Gyro, or some calculation based on the absolute orientation determined by the Kalman filter? I can't imagine why you wouldn't derive it from the Kalman filter if you're already running one. In the case of the sensor you mention, the onboard Kalman filter produces a CorrectedAngularVelocity value.
It's worth mentioning, in the Openplotter ecosystem, sensor fusion is performed on the Raspberry pi by an instance of Pypilot, so if you're interested you can always have a look through the Pypilot repo.
It's worth mentioning, in the Openplotter ecosystem, sensor fusion is performed on the Raspberry pi by an instance of Pypilot, so if you're interested you can always have a look through the Pypilot repo.