This week, I focused on verifying the IMU attitude estimation after calibration updates. I reran the complementary filter on recorded data and analyzed the roll, pitch, and yaw outputs using plots and a 3D viewer.
The results show improved stability, especially in yaw, after fixing the magnetometer issue. This verifies that the IMU subsystem is producing reliable orientation estimates.
I also wrote up the code for the position esitmation node but I might need some testing with the visual pipeline once we have that data.
My progress is on schedule. Next week, once we have a good day I will test all the estimations together.