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References

  • A. Barrau, S. Bonnabel, The Invariant Extended Kalman Filter as a Stable Observer, IEEE TAC, 2017.
  • R. Mahony, T. Hamel, J.-M. Pflimlin, Nonlinear Complementary Filters on the Special Orthogonal Group, IEEE TAC, 2008.
  • S. Madgwick, A. Harrison, R. Vaidyanathan, Estimation of IMU and MARG orientation using a gradient descent algorithm, ICORR, 2011.
  • ACwing hardware: ACwing_HW (ACwing FC, ESC 1S, GPS and Flow boards: schematics, pin maps, BoMs).
  • STMicroelectronics: UM3239 (X-NUCLEO-IKS4A1), UM2435 (NUCLEO-WB55), LSM6DSV16X and LIS2MDL datasheets, lsm6dsv16x-pid driver, AN5289 (STM32WB BLE).