pub const GRAVITY: f32 = 9.806_65;Expand description
Standard gravity, m s⁻²: Config::gravity’s default.
The WGS-84 standard value, which is local gravity at about 45° of latitude and sea level. Elsewhere it is off by up to 0.03 m s⁻² (0.3 %), entering (11) as a systematic vertical specific-force error that the accelerometer bias state absorbs, so it shows up as a bias estimate wrong by that much rather than as vertical drift.