code: def PX4_update(IMU, ATT):
      '''implement full DCM using PX4 native SD log data'''
      global px4_state
      if px4_state is None:
          px4_state = PX4_State(degrees(ATT.Roll), degrees(ATT.Pitch), degrees(ATT.Yaw), IMU._timestamp)
  
      gyro  = Vector3(IMU.GyroX, IMU.GyroY, IMU.GyroZ)
      accel = Vector3(IMU.AccX, IMU.AccY, IMU.AccZ)
      px4_state.update(gyro, accel, IMU._timestamp)
      return px4_statf PX4_update(IMU, ATT):
      '''implement full DCM using PX4 native SD log data'''
      global px4_state
      if px4_state is None:
          px4_state = PX4_State(degrees(ATT.Roll), degrees(ATT.Pitch), degrees(ATT.Yaw), IMU._timestamp)
  
      gyro  = Vector3(IMU.GyroX, IMU.GyroY, IMU.GyroZ)
      accel = Vector3(IMU.AccX, IMU.AccY, IMU.AccZ)
      px4_state.update(gyro, accel, IMU._timestamp)
      return px4_state
docs: implement full DCM using PX4 native SD log data