I've added the following (level) log to the calculations and got lower MAE numbers so I think I take that instead.
Here are the log pics (level position)
- acc level 2
- mag level 2
- rate level 2
- temp level 2
the calculated values are:
[HLoops: 210000
RateZ Bias Variance:
0th 1st 2nd 3rd
+0.000000001 +0.000000000 +0.000000000 +0.000000000
RateZ Bias Params:
0th 1st 2nd 3rd
-1.319198329 +0.000233239 +0.000000608 -0.000000000
MAE 0 = 0.000150
MAE 1 = 0.000139
MAE 2 = 0.000158
#define IMU_GYO_BIAS_X -1.350121918e+000
#define IMU_GYO_BIAS_Y -1.374237569e+000
#define IMU_GYO_BIAS_Z -1.319198329e+000
#define IMU_GYO_BIAS1_X +9.032546222e-005
#define IMU_GYO_BIAS1_Y -1.089207330e-004
#define IMU_GYO_BIAS1_Z +2.332391488e-004
#define IMU_GYO_BIAS2_X -2.920052578e-007
#define IMU_GYO_BIAS2_Y +8.075312966e-006
#define IMU_GYO_BIAS2_Z +6.080186818e-007
#define IMU_GYO_BIAS3_X +8.592570031e-009
#define IMU_GYO_BIAS3_Y +6.383047524e-008
#define IMU_GYO_BIAS3_Z -1.531503298e-010
Are those MAE values ok?
EDIT: after cutting this log to 10^6 values I got better results:
[HLoops: 220000
RateZ Bias Variance:
0th 1st 2nd 3rd
+0.000000001 +0.000000000 +0.000000000 +0.000000000
RateZ Bias Params:
0th 1st 2nd 3rd
-1.319206170 +0.000233167 +0.000000649 +0.000000001
MAE 0 = 0.000152
MAE 1 = 0.000142
MAE 2 = 0.000149
#define IMU_GYO_BIAS_X -1.350130872e+000
#define IMU_GYO_BIAS_Y -1.374207269e+000
#define IMU_GYO_BIAS_Z -1.319206170e+000
#define IMU_GYO_BIAS1_X +9.032210850e-005
#define IMU_GYO_BIAS1_Y -1.089387367e-004
#define IMU_GYO_BIAS1_Z +2.331671413e-004
#define IMU_GYO_BIAS2_X -2.541850453e-007
#define IMU_GYO_BIAS2_Y +7.850816477e-006
#define IMU_GYO_BIAS2_Z +6.487311766e-007
#define IMU_GYO_BIAS3_X +9.411796878e-009
#define IMU_GYO_BIAS3_Y +5.867728738e-008
#define IMU_GYO_BIAS3_Z +8.067290440e-010