Gravimetric Corrections for the IMU

Although I’m still not entirely happy with my solution for the sensor fusion, I need to move on and if it creates a problem later on I’ll come back to it.

Just a note on the sensor fusion: I’ve discovered that it actually seems quite complicated to work out change in altitude from change in air pressure, and because I don’t really need this unless I have altitude hold, which I’m not going to implement for now, I’ve dropped any mention of pressure, temperature or altitude and am not using the barometer on board (for now at least).

This opens up possibilities of an open casing (or transparent) as the barometer is, as far as I know, the only light/wind-sensitive component, however I still plan to stick to a closed casing for the time being.
(continued)

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