Details on IMU software overhaul?

[jwbonner]

I noticed that the product roadmap lists "IMU Overhaul" under "Software". Do you have additional details about what that overhaul is likely to entail? In particular, I'm wondering whether it refers to higher-level interface changes (web UI, published data, etc) or lower-level performance improvements.

Context: We've been gathering some preliminary data comparing the onboard IMU to an existing CAN gyro (though our testing hasn't been super rigorous yet). We still need to compile the results in more detail, but in general there seems to be considerable room for improvement in the quality of the onboard IMU data. Nothing is far enough off that we think there's an actual bug, but it's enough that we would be very hesitant to rely on it in a match. 6328 also corrects our rotation estimate from vision, but many teams don't have (or use) that additional source of truth to correct for gyro errors.

[bhjelstrom]

The fusion algorithm is being updated. Even the upgrades from LL4 have not been merged in due to architectural differences.