Panzhao Chen

 Figure 1 shows the original data of imu and the data after data fusion, which was not uploaded successfully before.

 This is the accelerometer data, which I also think is fine.

> Hi @CasADi-acados, > > Thanks for the report. Support issues really should go into the support forums but I'll leave it here because we don't do much sub support...

> @CasADi-acados please answer the question: > > Any chance you could use a more modern version of AP? Is there a newer version of ArduSub? I haven't found it...

> @CasADi-acados please answer the question: > > Any chance you could use a more modern version of AP?  May I ask, are these the latest ones?

> Hi @CasADi-acados, > > Thanks for the report. Support issues really should go into the support forums but I'll leave it here because we don't do much sub support...

I think it's a problem with EKF3. I don't know why there are burrs in the curves of my two graphs. I feel like my acceleration curves are quite normal....