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notes.txt
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X Acceleration
mean: -0.007912
stdev: 0.001721
Y Acceleration
mean: 0.015373
stdev: 0.001960
Z Acceleration
mean: 0.942871
stdev: 0.002842
Gyroscope Theta
mean: -32.889192
stdev: 2.300915
X Magnetometer
mean: 79.583987
stdev: 2.431526
Y Magnetometer
mean: -67.247644
stdev: 2.152978
Magnetometer Theta Est
mean: 115.087481
stdev: 37.120281
Timing
1 0.021338
10 0.021945
100 0.023219
1000 0.205460
10000 2.091557
100000 21.567765
Todo:
Check sign of acc
X Zero ZAcc (the drone thinks it's falling)
- Change from using rviz to publishing Pose msgs and plotting in rxplot
Basic controller logic
Tag detection
Camera config
Position estimation using tag
Incorporating tag position into localization
Do tilt tests
X, Y, Z
Different combinations
matrix from origin -> marker
[[ 1. 0. 0. 3.]
[ 0. 1. 0. 0.]
[ 0. 0. 1. 0.]
[ 0. 0. 0. 1.]]