In this paper, we measure the memory performance throughout the Phoronix test "RAMspeed SMP". We decide to test this specific benchmark because we know how important is the memory for the system performance. This document shows how much the memory performance could change if we modify some variables in the linux kernel.
In this paper we will study an algorithm designed by Madgwick which is commonly used to determine the orientation of a quadcopter. The algorithm uses a group of accelerometers, gyroscopes and magnetometers integrated in what is called an IMU as input. Some differences have been found between the results obtained by the original paper and the implementation done by the author. Therefore, a thorough study has been made, finding a miscalculation in the equations. The results show a relative average error in the orientation of 1,44 ppm.