Quick background, we have built a Matlab/Simulink simulation for a custom VTOL we are building.
The simulation runs fine and we are able to fly in SITL mode w/ QGroundControl.
We have an issue that we can’t quite track down where the EKF2 estimated angles for roll/yaw always slightly overshoot the ground truth angle from the sim, and we have been unable to tune this out with the EKF2 params (which honestly we don’t fully understand) or identify what else might be the cause.
The angular rates DO track perfectly with the ground truth, by the way.
Below is a Flight Review example for a simple multicopter roll back and forth which shows the angle discrepancy and the perfect angular rate match.
Can anyone offer any insight into what we might be missing or not understanding here? Any help would be greatly appreciated!
The full flight review log is here: