Map out a path

[noitarud]

I probably should explain myself a little better if anybody missed how tracking is possible with just one 3-axis accelerometer (and actually, wall thickness measurement is not so easy). The motion of the accelerometer on the buggy has to be confined to certain freedoms. One axis is dedicated to thrust perception, the second is for centrifuge perception, the third for gravity. The accelerometer must be positioned at the centre of rotation (pivot), usually the fixed rear axle, this prevents centrifuge anomalies from buggy circling (i presume some lateral misposition of a'mtr will need compensation for radius and tilt progression (as opposed to absolute tilt)). If gravity cancels the centrifuge/thrust during tilt, the direction/descent has to be inferred from preceding events (though tilting is not ideal and lumpy terrain will complicate, the uncertainty is known and reduced if the RPM is known). Loss of pivot's traction (speed or bump) will lose centrifuge for unperceived lateral thrust (may be inferrable to a degree? At speed, will have to assume any of the front wheels has become the pivot to their friction's degree).