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strange problem with lsm6dsv320x HG accelerometer

richardp
Associate

‎2025-09-18 2:43 PM

Hi

We are testing out the lsm6dsv320x, which will be used on our new board.

The low G accelerometer is working fine, however the high G looks to be reporting wrong values.

If I use a simple calculation to computer the angles, the high G  is off by about 3-4 degrees

This is the formula i use to calculate the angles

    AccXangle =  (math.atan2(ACCy,ACCz)*RAD_TO_DEG)
    AccYangle =  (math.atan2(ACCz,ACCx)+M_PI)*RAD_TO_DEG

Below is an example of the results of both formulas when the sensor is horizontal. The last two columns are for the high G sensor.  you can see that it is different from the low G sensor. My expectation is that they should be reporting the same result.

ACCX_angleACCY_angle ACCX_HG_angleACCY_HG_angle
-0.06-0.20 -4.44-4.620
0.03-0.17 -3.67-4.120
0.03-0.23 -3.84-3.610
-0.03-0.17 -3.61-4.240
-0.03-0.17 -2.91-5.130
0.03-0.20 -3.50-4.240
0.00-0.20 -4.47-3.080
0.00-0.20 -3.05-5.680
0.03-0.20 -4.15-4.380
-0.03-0.20 -3.71-3.250
-0.03-0.20 -3.96-4.070
0.00-0.20 -2.97-4.880
0.00-0.23 -2.94-3.790
-0.03-0.17 -2.74-3.480
0.00-0.20 -3.70-3.760
0.00-0.20 -3.99-3.690
-0.03-0.23 -4.56-5.360
0.03-0.20 -2.46-3.690
0.03-0.23 -3.52-4.790
0.00-0.20 -3.15-4.010
0.00-0.17 -2.87-2.350
-0.03-0.20 -3.75-3.750

 

This is how we initialise  the sensor

        writeByte(LSM6DSV320X_ADDRESS,LSM6DSV320X_CTRL3, 0b01000000)    # Block data update
        writeByte(LSM6DSV320X_ADDRESS,LSM6DSV320X_CTRL1, 0b00000101)   # High performance mode, 60Hz
        writeByte(LSM6DSV320X_ADDRESS,LSM6DSV320X_CTRL1_XL_HG, 0b10011000)   #Enable high G.  480Hz ODR 32G
        writeByte(LSM6DSV320X_ADDRESS,LSM6DSV320X_CTRL8, 0b00000011)    # 16G
        writeByte(LSM6DSV320X_ADDRESS,LSM6DSV320X_CTRL2,0b00011010)   #1.92KHz, high-accuracy ODR mode
        writeByte(LSM6DSV320X_ADDRESS,LSM6DSV320X_CTRL6, 0b00000100)    # 2000dps

 

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Federica Bossi
ST Employee

‎2025-10-01 5:40 AM

Hi @richardp ,

The low-G and high-G accelerometers inside the LSM6DSV320X are separate sensing elements optimized for different ranges and sensitivities.

They have different offsets, scale factors, and noise characteristics that cause slight discrepancies in angle calculations.

I suggest you to use low G accelerometer for angle calculation.

In order to give better visibility on the answered topics, please click on 'Accept as Solution' on the reply which solved your issue or answered your question.
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