H matrix on EKF function

[jerichosu]

Hi there -

I saw the H matrix you have on your EKF function (MATLAB) is different from the one shown in https://github.com/pronenewbits/Arduino_AHRS_System

Specifically, 2g is not multiplied for the row 13, and 2 is not multiplied for row 46, may I know which H matrix is correct? The one you used or the one shown in the link, thank you!