I use MotionFX library and LSM9DS1 IC for quaternion estimation. I followed documentations, and I read signal values and call propagate and update functions with 10ms intervale. For now, I'm using 6X estimation algorithm, because in Unicleo GUI performance example with kettle look good. But in my own application and custom hardware Euler angles increase very slowly, there is latency about 2-3seconds before value saturate on real angle value(tested on 90° angle). There are also wrong values of yaw angle - movement of 90° is seen as 60-70°. I tried to change MotionFX library knobs and IC filters and bandwiths options, but without success. How to set this values to achieve maximum performance in orientation estimation? I'd like to minimize drifts and latency. My application is device moved by hand, which I want to track in real time with best possible accuracy.
I wonder about gyro bias. I have read in documentation that setting start_automatic_gbias_calculation to 1 will start gbias calulating, and after proces there will be set to 0; Calling that functions:
void calculate_gbias(void)
{
ipKnobs->start_automatic_gbias_calculation = 1;
MotionFX_setKnobs(ipKnobs);
do
{
MotionFX_getKnobs(ipKnobs);
}
while(ipKnobs->start_automatic_gbias_calculation != 0);
HAL_Delay(100);
}
cause that program is in the infinite loop, and stops. I have set:
ipKnobs->LMode = 1;
Is this connected with this issue?
