estimation.imu¶

IMUs on a soft arm: the curvature of each section and its rate, from gyros and accelerometers.

Module Attributes

`GRAVITY`	Default size of what a still accelerometer reads [m/s²].
`STILL_STEPS`	20 time constants at the default gain.
`STILL_DT`	Default length [s] of the steps of a calibration.
`TINY`	Below this the tilt of a section is taken as zero when its curvature is read from a rotation.

Classes

`ImuFilter`(arm[, mounts, kp, acc_tol, gravity])	The curvature (Dx, Dy) of each section of a PCC arm and its rate, from IMUs at its base and at the end of each section.