Help integrate angular velocity into my static stabilization system
Building an actively stabilized model rocket using movable fins how do I incorporate angular velocity into the control loop?
I have the aerodynamic side mostly figured out: I calculate the required fin deflection angle based on the rocket's tilt angle (from the IMU) and the aerodynamic restoring force the fins need to produce. The math checks out on paper.
What I'm unsure about is how to properly use the gyroscope data (angular velocity) alongside the accelerometer tilt estimate. Should angular velocity feed directly into the PID as the derivative term, or should I fuse both signals first (e.g. complementary filter or Kalman) and then run PID on the fused angle?
Using an MPU6050 on an Arduino Nano. Any advice on the control loop architecture would be appreciated.