accelerometer error addition during the AHRS updating step.

[sinitsky96]

Hello,
After reading the thesis and going over the code of the revised AHRS, I've noticed the error of a sensor is calculated and stored in the Internal state but i could not find its usage during the updating step.
Would very much appreciate the help.
Thank you.

[xioTechnologies]

The error in inclination and heading is used to calculate the feedback on lines 143 and 172 respectively. These feedback terms are then applied on line 188.

[sinitsky96]

Thank you very much.