Big angular error during acceleration

[Keith]

I’m using the UM7 to record the angle (pitch) of a motocross bike.
What I need to record is the first three seconds from clutch release.

Unfortunately the high acceleration (0-60 mph in around 4 second) causes the gyro to drift quite a lot. It seems the angle error is as much as 25 degrees in less than 2 seconds.

Earlier on, Caleb pointed out that I could adjust the EKF to trust the rate gyros more than the accelerometers.
He also pointed out that I could tune it by modifying the filter variance settings.

The problem is that I don’t have a clue of what numbers I realistically should try with. Within what limits etc.
Currently the “sensor variance settings”-“Rate gyros” is set to 0.01. Is that the one I should focus on?
Or should I look at “Q settings” as well?

Any help to point me in the right direction would be much appreciated!

[Author]

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