Im working on quadcopter. At this stage im coding a reference system for quadcopter using 10DOF board.At this stage im at the point of only getting raw data values from accelerometer, gyroscope, & magnetometer.
After searching around on web, I have rought idea of what I need to do, I need to implement a filter system that can help me determine accurate and stable position estimates from sensor data. Im planning on implementing kalman or Magwick based filter.
1) Before I go into filter design itself, I want to know do I just use the raw data from sensor ' as it is ' and feed it into filter system ? Or Do i need to some sort of preprocessing on data for filter to use ?
2) My second question is, after just glancing over some code on web, I saw alot of people adding some constants to their raw sensor data (i.e offsets? ) to smooth or correct raw sensor data. What kind of smoothing/correcting do i need to account for ? How does it relate to imu sensors ?