Tested against actual implementation

I tested the real data I recorded with an actual working implementation of an extended kalman filter, the one I’m roughly following as a guide for my own. I used ai a lot which worked pretty well, the code is very ugly but its just for testing so it doesn’t really matter. After my ai had got it working I went in and tuned the parameters for my dataset and it actually performed kinda worse than my own code! This really encouraged me because it means that my core code works and the errors are with the data processing. Next I think I’ll go through the gauntlet of calibrating my IMU which shouldn’t be too hard because I already did for a very similar project a while ago.