Hello everyone,
I write a simple IIR filter at the input of Hff. It gives better results for both hovering and navigation, if you want to use i can commit on github. SNR on the acc signals seems better and it gives smoother hover and regular navigation through waypoints. The output of the filter(comparison with the previous version) is at the attachment; translational accelerations seems similar with the previous version and the noise while hovering suppressed better(green line on "iir_hover.jpg") . Please ignore the labels on the graphs...
iir_hover.jpg
iir_navigate.jpg