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Hello everyone,

I want to program my inertial sensors. There is a gyroscope, and accelerometer and a magnetometer. I will try the code of Seb Madgwick but I want to try to program a kalman filter.

I began 2 weeks ago, but my code doesn't work I think =( because my gyroscope bias isn't linear.

I you can find the error or check my code, i will be very helpful !

Please find attached the code with my Kalman Filter.

I'm sorry, I am a beginner ...

Please tell me my mistakes all advice will be useful.

Bye,

Lu =)

kf_predict.m

kf_update.m

main.m