xeonqq

Hello, @rafaelmendy I think in Paul's EKF, both delta angles (from gyro) and delta_velocity (from accelerometer) are used in the prediction step. The observation is the gps position and velocity....

@rafaelmendy you are right and I have similar observations over other implementations of AHRS, they do only use accelerometers to correct gyro bias. The thing with this formula ```pitch=asin(ax/g)``` is...