This time data was recorded at 1Hz. Unfortunately it is clear holding the payload enclosure with one hand whilst running across a muddy field leaves the gyro output buried in noise. However the kalman filter seems to be coping well. Test three will have to use a bike.

Same data as previous, longer test run and intervals at 1Hz this time.

Around the 75 seciond mark it can be seen that the heading is around due south. The gps headfing is oscillating about the +-PI boundary, and it can be seen that the filtered heading is not behaving as it should, and is trying to follow the gps. A change to the code in kalman.c is probably the best solution to this - the top of the residual vector needs to be maintained in the +-PI so the filter is stable under these conditions.

The packet output was limited to 0.2 Hz by the radio module.

The x axis on the altitude and the headings graph is in samples. Headings are in radians and rate in radians/s