function [MASD, MABD, MACD] = computeMACD(testParams, trueParams)
%COMPUTEMACD Summary of this function goes here
%   Detailed explanation goes here

S_normaliser = [0.14 0.04 0.04;
                0.06 0.14 0.04;
                0.06 0.06 0.14]; % ranges of the CPs in the axis sensitivity matrix.

b_normaliser = [(40 / 1000) * 9.81, (40 / 1000) * 9.81, (40 / 1000) * 9.81];

MASD = mean(abs(trueParams.AxesMisalignment - testParams.AxesMisalignment) ./ S_normaliser, [1 2]); % mean abs. deviation of initial axis sensitivities from the true value
MABD = mean(abs(trueParams.Bias - [testParams.b_x testParams.b_y testParams.b_z]) ./ b_normaliser); % mean abs. value of the initial biases from their true values in the model.
MACD = MASD + MABD;

end