Hi everyone, i’m trying to create a new complementary filter using data coming from gyroscope, accelerometers and UWB yaw (the latter provided by a code i wrote in an Arduino board). My intention is to filter the yaw data coming from UWB with the ones from the other sensors. However here are my doubts:
- should i do this creating a new library?
- how can i recall sensors data in this new library?
- once the code is ready, how can i pass the new yaw to the EKF (the idea is to use this filtered source when the magnetometer is not reliable in indoor fly)?
I would appreciate any suggestion/help and/or any document where i can understand how to proceed. Thank you