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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!
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);