I was looking at the AscTec AutoPilot Control software and I see that there is a yaw reference angle in it. However this angle is not in the AutoPilot User Manual (acc_angle_nick, acc_angle_roll).
>>> These reference angles are computed by using accelerometer readings only and are used for the internal data fusion.
And is the difference between Trans. acceleration and total acceleration?
>>> Translational acceleration is acceleration in X, Y and Z direction caused by translational movement of the vehicle, whereas total acceleration is what is measured by the respective sensor axes.