This week, I worked on refining the IMU attitude estimation and starting integration with the rest of the estimator. I also adjusted the architecture so that the complementary filter outputs Euler angles, which will be used together with visual attitude estimates. I also continued testing using recorded data and improved visualization tools to better understand the filter behavior.
My progress is on schedule. The main goal this week was to get stable IMU-based attitude estimates and integrate the IMU and visual attitude estimates and start testing the combined system.
Next week we will add the position estimates into the system.