You can tune the matrices in other ways - I wrote my thesis around fuzzy autotuning - but most do it by hand. Here's some ancient code from those days: https:/

You can tune the matrices in other ways - I wrote my thesis around fuzzy autotuning - but most do it by hand. Here's some ancient code from those days: https://github.com/Qworg/Robot-Sensor-Fusion https://github.com/Qworg/Robot-Sensor-Fusion