Drift Correction: Kinect IMU Data

We are attempting to correct "drift" that the copter experiences after take-off.  One idea is to use the highly synthesized data from the Kinect's odometry.  We pulled odom data from the Kinect using ratabmap_ros, then simulated movement along the x and y axes that is similar to what we are experiencing in flight:

By subscribing to the Kinect's pose, we should be able to adjust pitch and roll in our flight script to hold the vehicle's position.