Four State Kalman Filter with Arduino

I teamed up with Robert Landau to implement a 4 state Kalman filter.

Github repository:
https://github.com/MatanPazi/4State-KalmanFilter

Sensor we used:
MPU-6050

The Poor Engineer, for plotting:
https://www.thepoorengineer.com/en/arduino-python-plot/

How to Mechatronics, to read from MPU and implement a complementary filter:
https://howtomechatronics.com/tutorials/arduino/arduino-and-mpu6050-accelerometer-and-gyroscope-tutorial/

Article that used the gyro bias as one of the states:
http://home.earthlink.net/~schultdw/bbot/bbot.html

"An Introduction to the Kalman Filter" by Greg Welch and Gary Bishop:
http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf

Video series by Mathworks on the Kalman filter:
https://www.mathworks.com/videos/understanding-kalman-filters-part-1-why-use-kalman-filters--1485813028675.html

"Drone Control and the Complementary Filter" by Brian Douglas:
https://www.youtube.com/watch?v=whSw42XddsU