![]() I did no tunig so far - just because it looked right. I saw the code somewhehre in github and it looks what I borrowed works quite well. This is done in a rather simple Kalman filter (can they ever be simple ?). What I have at the moment is vertical speed that is already a fusion of pressure and vertical acceleration. I know how to implement a simple calculation but in my mind I see a fusion between z-axis velocity, pressure and speed would be much better or nicer to investigate. Next step is taking speed data in order to ino finally get a TECS value. So far I made a fusion of pressure data and normalized/g-corrected acceleration of z-axis. Since I am a lazy guy in some aspects - let these sensors do their job and say hello when they want to say hello. But the interrupt-driven approach with getting all data at once was to luring. I hope you forgive - I stripped it back to the bare minimum. It helped me a lot for retrieving data out of the 9250. My project makes good progress and it is running (9250 with MS5611 vario, telemetry to RC-transmitter for all data just for fun). I just saw in another thread that you are back. ![]()
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