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Same here. I used a 15 state EKF in sounding rockets for state estimation and attitude control with great success. But I think for a pedestal control problem for a small system as RouthUAV was mentioning, using hobby grade sensors, it may be a stretch. However, I don't know the details of what...

brtaylor is right. If your platform has any significant motion, you can't rely on the accelerometer to give you a second attitude reference (the first I assume is your magnetometer). Even with GPS aiding, and if you have a great dynamics model of your system, it's unlikely that you'll be able to...

I'm still using a Teensy 3.6 in my rocket controller unit. It logs 512 bit records at 200hz all while sampling sensors/GPS/continuity, running EKFs, postprocessing nav data and deployment logic, running an OLED screen, camera control, data radio output, and running PID loops for the control...

Spent a bit of time reading through this thread. Interesting project! I’ve made a similar filter myself. I could be corrected if I misunderstand but the reason your filter diverges when you’re not moving is likely due to there not being enough measurements for attitude. So the attitude is only...