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    An issue at generate quaternion on BMX160

    Member

    Re: An issue at generate quaternion on BMX160

    Dear Marko Njirjak and Moderator

    Thanks for your help!

    Yes,  I have got a meaningful quaternion. Different sensor range settings may cause some errors (such as the sampling frequency you mentioned), and I am trying more.
    If you have any suggestions for sensor settings, please let me know, this will be beneficial to my debugging.

    Thank you very much for your help!

    Andy

    Established Member

    Re: An issue at generate quaternion on BMX160

    Dear coder,

    here are the settings that I use in my project.

     

    //Accelerometer
    bmi.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
    bmi.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
    bmi.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
    bmi.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
    
    //Gyroscope
    bmi.gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
    bmi.gyro_cfg.range = BMI160_GYRO_RANGE_500_DPS;
    bmi.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
    bmi.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
    
    //Magnetometer
    bmm.settings.preset_mode = BMM150_PRESETMODE_REGULAR;
    APP_ERROR_CHECK(bmm150_set_presetmode(&bmm));
    bmm.settings.pwr_mode = BMM150_FORCED_MODE;
    APP_ERROR_CHECK(bmm150_set_op_mode(&bmm));
    bmi.aux_cfg.aux_odr = 6;    // I believe this is 25Hz, but an 8 works OK too (100Hz)
    bmi160_config_aux_mode(&bmi);

     

     

    Kind regards,

    Marko Njirjak

    Highlighted
    Member

    Re: An issue at generate quaternion on BMX160

    Really Thanks! I am know basic applications of Quatrnion I think. 

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