Logs IMU (gyroscope, accelerometer and magnetometer) data samples at 500Hz
Logs Barometric pressure sensor derived altitude readings at 50Hz
Logs GPS readings at 10Hz
Data is logged to a 128Mbit spi serial flash, and can be uploaded via Wifi with the unit acting as a wifi access point and http web server.
Purpose is to log real-time data for offline analysis and algorithm development.
The /docs directory has an example binary data log, and code used to extract the data from the log, and process it. The code compares two Kalman filters that output filtered altitude data. The first filter only uses the pressure sensor derived altitude, and the second filter fuses altitude and acceleration data for lag-and-overshoot free output. See http://github.com/har-in-air/Kalmanfilter_altimeter_vario for algorithm documentation.
This was compiled and run on an AMDx64 Ubuntu 16.04LTS platform, and the resulting filtered data was charted using LibreOffice.