此更改更改了imu数据处理方式，使得静止状态yaw不会发生偏移，后续应优化陀螺仪数据处理：低通滤波会导致相位延迟、滑动窗口会导致数据有微量误差。

无法避免运动过程中的yaw偏移。
后续应在运动时也加上零漂偏移

scripts/setup_ssh_passwordless.sh

@@ -0,0 +1,74 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+usage() {
+  cat <<EOF
+Usage: $0 [-p port] user@host
+
+Example:
+  $0 sunrise@192.168.10.210
+  $0 -p 2222 sunrise@192.168.10.210
+
+This script creates an SSH key pair if needed and installs the public key on the remote host,
+so you can log in without a password.
+EOF
+}
+
+PORT=22
+while getopts ":p:" opt; do
+  case "$opt" in
+    p) PORT="$OPTARG" ;;
+    *) usage; exit 1 ;;
+  esac
+done
+shift $((OPTIND - 1))
+
+if [ $# -ne 1 ]; then
+  usage
+  exit 1
+fi
+
+REMOTE="$1"
+
+if ! command -v ssh >/dev/null 2>&1; then
+  echo "Error: ssh command not found." >&2
+  exit 1
+fi
+
+if [ -z "${SSH_AUTH_SOCK:-}" ]; then
+  echo "Warning: SSH agent is not running. You can still use ssh-keygen and ssh-copy-id."
+fi
+
+KEYFILE="$HOME/.ssh/id_rsa"
+PUBKEYFILE="$KEYFILE.pub"
+
+if [ ! -f "$KEYFILE" ] || [ ! -f "$PUBKEYFILE" ]; then
+  echo "SSH key pair not found. Generating a new key at $KEYFILE..."
+  mkdir -p "$HOME/.ssh"
+  chmod 700 "$HOME/.ssh"
+  ssh-keygen -t rsa -b 4096 -f "$KEYFILE" -N "" -C "${USER:-$(whoami)}@$(hostname)"
+else
+  echo "Found existing SSH key: $KEYFILE"
+fi
+
+SSH_OPTS=(-p "$PORT")
+if command -v ssh-copy-id >/dev/null 2>&1; then
+  echo "Installing public key on remote host using ssh-copy-id..."
+  ssh-copy-id "${SSH_OPTS[@]}" "$REMOTE"
+else
+  echo "ssh-copy-id not found, using manual upload..."
+  mkdir -p "$HOME/.ssh"
+  chmod 700 "$HOME/.ssh"
+  cat "$PUBKEYFILE" | ssh "${SSH_OPTS[@]}" "$REMOTE" 'mkdir -p ~/.ssh && chmod 700 ~/.ssh && cat >> ~/.ssh/authorized_keys && chmod 600 ~/.ssh/authorized_keys'
+fi
+
+echo "Testing passwordless login to $REMOTE..."
+ssh -o BatchMode=yes "${SSH_OPTS[@]}" "$REMOTE" exit
+
+if [ $? -eq 0 ]; then
+  echo "Success: passwordless SSH login is configured for $REMOTE"
+  echo "You can now connect with: ssh ${SSH_OPTS[*]} $REMOTE"
+else
+  echo "Warning: passwordless SSH login may not be configured correctly." >&2
+  exit 1
+fi