LSM6DSV half precision error at ~180 degrees

[Gorbit99]

Hi,

We're using the lsm6dsv's SFLP algorithm to calculate IMU rotation. Recently however we noticed that the resulting rotation has big gaps at around the 180degree mark. We believe this is because of the half float precision, specifically because there aren't a lot of representable values near 1. See below image for our calculated accuracy results which match the actual results we're seeing:

 

[flaufer]

Hi Andrea,

thank you very much for the valuable insights!

How about the ISM330BX? Are the quaternion components also stored in such embedded advanced features registers and which are they?

Kind regards,

Felix

[Andrea VITALI]

Yes, it should work - I had no time to test it. Please try the attached application example.

You will notice that there is an additional step during the configuration to enable SFLP in the correct way for ISM330BX as specified in AN6109 section 6.5.