Question
Clarification on Raw IMU Data Units – ISM330DHCX
I am working with the ISM330DHCX 6-axis IMU and recording accelerometer and gyroscope data.
The accelerometer is configured to ±2 g, and the gyroscope is configured to ±250 dps.
For reference, here is an example of my recorded data:
ACC_X, ACC_Y, ACC_Z, GYRO_X, GYRO_Y, GYRO_Z
-248.819, -3.233, -0.732, 0.58751, -0.20601, -0.33572
Processing IMU Data:
The accelerometer values are extracted by combining two bytes into a signed 16-bit value and multiplying the result by glAccSensMult
The gyroscope values are processed similarly, using glGyroSensMult.
glAccSensMult 0.061
Questions:
- When the camera is stationary, why might the accelerometer readings have a magnitude significantly different from approximately 1000 mg, and the gyroscope readings be nonzero?
- Is additional accelerometer and gyroscope calibration required before using this data?