Hello -

I have been doing much research into the various flavors of Kalman filters. I have already successfully implemented a well-performing Kalman filter in c that runs on an arduino and fuses 3-axis accel and 2-axis gyro data to get absolute angles. However this does not work properly for all angles.

I have been reading that I need a nonlinear estimator for all angles, aka an Extended or Unscented kalman filter. However, it seems there is no sample source code available?

Any help is appreciated.

Thanks,

-Jamie