We upgraded from an EKF to a UKF for our drone. I feel like our code is a good reference for using an Unscented Kalman Filter to estimate a drone’s rotational s

We upgraded from an EKF to a UKF for our drone. I feel like our code is a good reference for using an Unscented Kalman Filter to estimate a drone’s rotational state, later this year I expect to add an optical flow and ToF sensor and update the filter for better velocity and displacement estimation. https://github.com/Flybrix/flybrix-firmware/blob/master/ukf.cpp https://github.com/Flybrix/flybrix-firmware/blob/master/ukf....