[Note: Apologies for the low sound volume in this video. Please turn your volume up.]
This is a demonstration of the reduced Yaw Drift which is possible when sampling the gyros at 30,000 times / second (Thanks to William Premerlani for this R&D and code). Using QGroundControl and the MatrixPilot MAvlink implementation, I show a real time graph of the resulting negligble yaw drift in the UDB IMU.
In the demo I do refer to the accelerometers quite a bit. I should really have been focussing on the gyros. It is the high sampling of the gyros, and the integration of the resulting data which leads to the low yaw drift. So please ignore my comments about the accelerometers.
Demonstration uses Revision 790 of MatrixPilot_mavlink branch at this address