Mahony Algorithm Output Seems Unusual: Large Variation and Bias

[zhangbb-john]

I've been working with the Mahony algorithm for sensor fusion, and I've noticed some unusual behavior with the output. Specifically, the results seem to exhibit a significant bias, and the variations are larger than expected.

Has anyone else encountered this issue? If so, do you have any insights on potential causes or solutions? I'd appreciate any thoughts or suggestions.

Thanks!