Position Estimator

Use a Kalman filter for Gyroscope, Accelerometer and Magnetometer of ICM20948.

Project on ESP32.

Try to recover path.

TODO

• Write driver for ICM20948
• Add madgwick (Kalman variant) fusion algorithm
• Test computation
• Compute acceleration from attitude
• Integrate to get the position estimation
• Code wifi driver to get data
• Write packets to get data
• Calibrate Magnetometer, Accelerometer

Python:

• [~] Wi-Fi module
  • Connect via Wi-Fi
  • Receive data
  • Build Graph
• Implement Graph class
  • Display points
  • Log points