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What is the best way to optimize settings of the n580 and n380?

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What is the best way to optimize settings of the n580 and n380?

Driving a figure 8 produces accelerations and angular rates that allow the HGuide navigation algorithms to find initial set up errors and improve the gyros and accelerometers. Driving several figure 8's will produce improved odometer and lever arm estimates as well as tune the navigation filter.