rsasaki0109 / imu_estimator Goto Github PK

I don't understand why there's a plus sign here?
predeted_quat = quat + dt_ / 2 * omega * quat;

Hi,

If I interpret the observation update correctly, you're using the gravity vector direction from the accelerometers for correcting the gyro drift. However, when the robot is going under acceleration, I'm not sure if this still becomes valid since the accelerometer measurements will be corrupted by the inertial acceleration readings. In this case, isn't this observation update step only valid when the robot travels under constant velocity?