Providing initial guesses for gyro biases

[michael-p]

Dear all,

I think a nice addition would be the ability to optionally start the algorithm with an initial guess for the gyro biases. These could be estimated by asking the user to hold the IMU steady for a few seconds and take the average gyro readings during that time. This procedure is used by many quadcopter flight controllers to estimate gyro biases pre-flight.

The benefit of providing initial values for the biases instead of just starting with some arbitrary small value would hopefully be faster convergence of the algorithm.

Best
Michael