I didn't look close enough to see that the IMU computes a Yaw (via the quaternion just like the other platforms). Since the Tello doesn't have a compass this Yaw is probably being computed by integrating the Z axis gyro with corrections from the accelerometers. Does that sound right? If that were the case I'd expect Yaw to be initialized at 0.0, but your 3 .DATs show it being initialized to 3 different values.I could only guess. It seems odd they need 6 of them. I did a google search and there are several scholarly articles on optical flow uncertainty. Seems like some next level stuff.
I'll have to look into that, and at least compare it to the yaw value from the imu. Looking at some of my position plots it seems like it is able to regain the position again really well even when optical flow is lost. I wonder if they arn't also factoring inertial measurements into the position data.
I was curious about those reserved fields. They do look like flags. Maybe it will be more obvious when they are separated.
The other DJI platforms fuse IMU, compass, and GPS data. The "GPS" data you see in the IMU record is actually computed from inertial, compass and GPS data. It wouldn't surprise me if the Tello is fusing IMU and MVO data.
I've seen references to a "vision" compass. Any idea what this is? The MVO data doesn't have anything that could be construed as a "vision" compass.
The MVO Engineered signals will be in the next CsvView/DatCon release.
I don't have a Tello. Maybe I should get one, looks like you guys are having fun. Just what I need - another drone and project....