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    BHI260AB Euler Measurement Issue

    BHI260AB Euler Measurement Issue

    hjoungjoo
    New Poster

    Hello, I made a product with BHI260AB.
    My product specifications are as follows.

    1. Use BHI260AB and AK09915.
    2. The direction of the IC is the same as the SHUTTLE board.
    3. The SDK you are using is v1.3.0.
    4. The firmware is "Bosch_SHUTTLE_BHI260_AK09915_turbo-flash".(Questions link)

    I am inquiring about a problem while checking the EULER value because I need an accurate heading angle.
    I set "BHY2_SENSOR_ID_RV_WU" and "BHY2_SENSOR_ID_ORI_WU" on the sensor. Checking quaternion and EULER values
    1. The first question.
    The sensor will normally output the heading value until roll 135deg.
    If the roll exceeds 135 deg, there is a difference of approximately 155 deg.
    2. Second question.
    When the roll is fixed to about 90deg and the pitch is moved +-90deg, the values of roll and yaw change.

    Are the above two problems caused by gimbal lock?
    Is there any solution?

    Please let me know if there is a better solution to check the heading angle no matter what angle the sensor is at.

    The Log I measured is as follows.
    1.
    Quat W X Y Z Euler X Y Z
    0.6014 0.0128 -0.0031 0.7988 1.4 -0.6 254.5
    0.6016 0.0128 -0.0032 0.7986 1.4 -0.6 254.5
    0.6021 0.0125 -0.0035 0.7983 1.4 -0.5 254.5
    0.6024 0.0122 -0.0038 0.798 1.4 -0.5 254.6
    0.6027 0.012 -0.0042 0.7979 1.4 -0.4 254.6
    0.6029 0.0118 -0.0043 0.7977 1.4 -0.4 254.7
    0.603 0.0117 -0.0045 0.7975 1.4 -0.4 254.7
    0.6032 0.0117 -0.0046 0.7974 1.4 -0.4 254.7
    0.6033 0.0117 -0.0046 0.7974 1.4 -0.4 254.7
    0.6034 0.0117 -0.0046 0.7972 1.4 -0.4 254.7
    0.6036 0.0117 -0.0046 0.7971 1.4 -0.4 254.8
    0.6038 0.0117 -0.0046 0.797 1.4 -0.4 254.8
    0.6039 0.0118 -0.0045 0.7969 1.4 -0.4 254.8
    0.604 0.0117 -0.0044 0.7968 1.4 -0.4 254.8
    0.6042 0.0117 -0.0043 0.7967 1.4 -0.4 254.8
    0.6044 0.0115 -0.0043 0.7965 1.4 -0.4 254.9
    0.6052 0.0114 -0.0045 0.7959 1.3 -0.4 255
    0.6058 0.011 -0.0047 0.7955 1.3 -0.3 255.1
    0.6065 0.0106 -0.0052 0.7949 1.3 -0.3 255.2
    0.6072 0.0101 -0.0057 0.7944 1.3 -0.2 255.3
    0.6083 0.0095 -0.0065 0.7935 1.3 -0.1 255.4
    0.6089 0.0093 -0.0068 0.7932 1.3 0 255.5
    0.6094 0.0092 -0.007 0.7927 1.3 0 255.6
    0.6099 0.009 -0.0073 0.7924 1.3 0 255.6
    0.6105 0.0088 -0.0074 0.7919 1.3 0.1 255.7
    0.6322 0.0085 -0.0076 0.7747 1.3 0.1 258.8
    0.6322 0.0084 -0.0076 0.7747 1.3 0.1 258.8
    0.6322 0.0083 -0.0075 0.7747 1.3 0.1 258.8
    0.6326 0.0082 -0.0075 0.7744 1.3 0.1 258.9
    0.6328 0.0083 -0.0074 0.7742 1.3 0.1 258.9
    0.6329 0.0082 -0.0074 0.7741 1.3 0.1 258.9
    0.6331 0.0082 -0.0074 0.7739 1.3 0.1 258.9
    0.6334 0.0083 -0.0074 0.7737 1.3 0.1 259
    0.6335 0.0083 -0.0076 0.7736 1.3 0.1 259
    0.6337 0.0083 -0.0077 0.7734 1.3 0.1 259
    0.6337 0.0083 -0.0078 0.7734 1.3 0.1 259
    0.6335 0.0083 -0.0078 0.7736 1.3 0.1 259
    0.6329 0.0081 -0.0082 0.7741 1.3 0.1 258.9
    0.6329 0.0077 -0.0089 0.7741 1.3 0.2 258.9
    0.6331 0.007 -0.0098 0.774 1.3 0.4 258.9
    0.6336 0.0063 -0.0109 0.7735 1.4 0.5 259
    0.6335 0.0059 -0.0116 0.7736 1.4 0.6 259
    0.6332 0.0058 -0.0121 0.7739 1.4 0.6 258.9
    0.6331 0.0057 -0.0125 0.7739 1.4 0.7 258.9
    0.6331 0.0056 -0.0128 0.7739 1.4 0.7 258.9
    0.6329 0.005 -0.0132 0.7741 1.4 0.8 258.9
    0.6332 0.0042 -0.0137 0.7737 1.4 0.9 259
    0.6334 0.0031 -0.0142 0.7736 1.3 1 259
    0.6336 0.0023 -0.0146 0.7735 1.3 1.1 259
    0.6333 0.0023 -0.0146 0.7737 1.3 1.1 259
    0.6327 0.0023 -0.0145 0.7742 1.3 1.1 258.9
    0.6321 0.002 -0.0146 0.7747 1.2 1.1 258.8
    0.6326 0.0012 -0.0156 0.7743 1.2 1.3 258.9
    0.6327 -0.0002 -0.0173 0.7742 1.2 1.5 258.9
    0.6332 -0.0013 -0.0186 0.7737 1.2 1.7 259
    0.6339 -0.0024 -0.0197 0.7732 1.2 1.9 259
    0.6342 -0.0033 -0.0211 0.7728 1.2 2.1 259.1
    0.6341 -0.0037 -0.0215 0.7729 1.2 2.2 259.1
    0.634 -0.0042 -0.0217 0.7729 1.2 2.2 259.1
    0.6343 -0.0049 -0.0226 0.7727 1.2 2.4 259.1
    0.6351 -0.0061 -0.0239 0.772 1.2 2.6 259.2
    0.6354 -0.007 -0.0253 0.7717 1.2 2.7 259.3
    0.6348 -0.0073 -0.0256 0.7722 1.2 2.8 259.2
    0.6338 -0.0068 -0.0251 0.773 1.2 2.7 259.1
    0.6323 -0.0057 -0.0241 0.7743 1.2 2.6 258.8
    0.6303 -0.0039 -0.0225 0.7759 1.3 2.3 258.6
    0.6284 -0.0011 -0.0215 0.7776 1.5 2 258.3
    0.6273 0.0008 -0.0206 0.7784 1.6 1.8 258.1
    0.6273 -0.0004 -0.0222 0.7784 1.5 2 258.1
    0.6271 -0.0003 -0.0223 0.7786 1.6 2 258.1
    0.6263 0.0002 -0.0227 0.7792 1.6 2 258
    0.6253 0.0004 -0.0229 0.78 1.7 2 257.8
    0.624 0.0007 -0.0228 0.7811 1.7 2 257.7
    0.6225 0.0011 -0.0219 0.7823 1.7 1.9 257.4
    0.6215 0.0012 -0.0204 0.7831 1.6 1.7 257.3
    0.6203 0.0011 -0.0191 0.7841 1.5 1.6 257.1
    0.6196 0.0005 -0.0177 0.7847 1.3 1.5 257
    0.6194 -0.0002 -0.017 0.7848 1.2 1.5 257
    0.6196 -0.0006 -0.0175 0.7847 1.2 1.6 257
    0.6202 -0.0015 -0.0182 0.7842 1.2 1.7 257.1
    0.621 -0.0027 -0.0197 0.7834 1.2 2 257.2
    0.6218 -0.0043 -0.0214 0.7828 1.1 2.2 257.3
    0.6226 -0.0059 -0.0228 0.7822 1.1 2.5 257.5
    0.6232 -0.0068 -0.024 0.7816 1.1 2.6 257.6
    0.6237 -0.0075 -0.0249 0.7812 1.1 2.8 257.6
    0.6245 -0.0084 -0.0258 0.7806 1.1 2.9 257.7
    0.6253 -0.0099 -0.0273 0.7798 1.1 3.2 257.9
    0.6256 -0.011 -0.029 0.7795 1.1 3.4 257.9
    0.6257 -0.0119 -0.0301 0.7793 1.1 3.5 257.9
    0.6257 -0.0128 -0.0308 0.7793 1.1 3.7 257.9
    0.6251 -0.0133 -0.0313 0.7798 1 3.7 257.8
    0.6242 -0.0132 -0.0315 0.7805 1.1 3.8 257.7
    0.6232 -0.013 -0.0313 0.7813 1.1 3.7 257.6
    0.6223 -0.0123 -0.0308 0.7821 1.1 3.6 257.4
    0.6218 -0.0119 -0.0302 0.7824 1.1 3.5 257.4
    0.6215 -0.0117 -0.03 0.7827 1.1 3.5 257.3
    0.621 -0.0113 -0.0294 0.7831 1.1 3.4 257.2
    0.6205 -0.0109 -0.0288 0.7835 1.1 3.4 257.2
    0.6204 -0.0106 -0.0284 0.7837 1.1 3.3 257.2
    0.621 -0.0101 -0.0279 0.7832 1.1 3.2 257.2
    0.6219 -0.01 -0.0279 0.7824 1.1 3.2 257.4
    0.6229 -0.0106 -0.0286 0.7817 1.1 3.3 257.5
    0.6239 -0.0114 -0.0294 0.7808 1.1 3.4 257.7
    0.6248 -0.0118 -0.0302 0.78 1.1 3.5 257.8
    0.6257 -0.0126 -0.0311 0.7793 1.1 3.7 257.9
    0.6266 -0.0137 -0.0325 0.7784 1.1 3.9 258.1
    0.627 -0.0143 -0.0332 0.7782 1.1 4 258.1
    0.6271 -0.0147 -0.0337 0.778 1.1 4.1 258.1
    0.6274 -0.015 -0.0342 0.7777 1.1 4.1 258.2
    0.6276 -0.015 -0.0345 0.7776 1.1 4.2 258.2
    0.6271 -0.015 -0.0349 0.778 1.2 4.2 258.1
    0.6263 -0.0148 -0.035 0.7786 1.2 4.2 258
    0.6257 -0.0147 -0.0352 0.7791 1.2 4.2 257.9
    0.6248 -0.0144 -0.0347 0.7798 1.2 4.1 257.8
    0.6236 -0.0135 -0.0334 0.7809 1.2 4 257.6
    0.6226 -0.0122 -0.0314 0.7818 1.1 3.7 257.5
    0.6218 -0.0115 -0.03 0.7825 1.1 3.5 257.4
    0.6217 -0.0109 -0.029 0.7826 1.1 3.4 257.4
    0.6225 -0.0109 -0.0292 0.782 1.1 3.4 257.5
    0.6229 -0.0112 -0.0298 0.7816 1.1 3.5 257.5
    0.6232 -0.0118 -0.0306 0.7814 1.1 3.6 257.6
    0.6229 -0.0125 -0.0316 0.7815 1.1 3.7 257.5
    0.6228 -0.0131 -0.0323 0.7816 1.1 3.8 257.5
    0.6233 -0.014 -0.0335 0.7811 1.1 4 257.6
    0.6241 -0.0151 -0.0348 0.7803 1.1 4.2 257.7
    0.6252 -0.0163 -0.0361 0.7794 1.1 4.4 257.9
    0.626 -0.0172 -0.0374 0.7787 1.1 4.6 258
    0.6265 -0.0184 -0.0389 0.7781 1.1 4.8 258.1
    0.6277 -0.0202 -0.041 0.777 1.1 5.1 258.3
    0.6291 -0.0226 -0.0435 0.7758 1.1 5.5 258.5
    0.6308 -0.0248 -0.0463 0.7741 1.1 5.9 258.7
    0.633 -0.0276 -0.0497 0.772 1.2 6.4 259.1
    0.6353 -0.0315 -0.0549 0.7696 1.2 7.2 259.4
    0.6356 -0.0348 -0.059 0.7689 1.2 7.8 259.5
    0.6353 -0.0364 -0.0611 0.769 1.2 8.1 259.5
    0.6352 -0.0386 -0.0634 0.7687 1.2 8.4 259.5
    0.6351 -0.0411 -0.0667 0.7684 1.2 8.9 259.5
    0.6349 -0.0439 -0.0703 0.7681 1.2 9.4 259.5
    0.6346 -0.0466 -0.0741 0.7678 1.3 10 259.5
    0.6345 -0.0501 -0.0787 0.7672 1.3 10.6 259.5
    0.634 -0.0546 -0.0845 0.7667 1.3 11.5 259.5
    0.6331 -0.0587 -0.0927 0.7662 1.6 12.5 259.5
    0.632 -0.0632 -0.1041 0.7653 2 13.9 259.4
    0.6305 -0.0731 -0.1176 0.7637 2.1 15.8 259.4
    0.6288 -0.0864 -0.1307 0.7615 1.9 18 259.4
    0.6279 -0.0989 -0.1405 0.759 1.5 19.8 259.5
    0.6266 -0.1096 -0.1484 0.7571 1.2 21.4 259.6
    0.6254 -0.1158 -0.1571 0.7554 1.2 22.6 259.6
    0.6247 -0.1206 -0.1624 0.7542 1.2 23.5 259.6
    0.624 -0.1251 -0.1679 0.7528 1.2 24.3 259.7
    0.623 -0.1306 -0.1741 0.7512 1.2 25.3 259.7
    0.6215 -0.1365 -0.1812 0.7498 1.2 26.4 259.7
    0.6196 -0.1428 -0.1893 0.7481 1.2 27.6 259.6
    0.6179 -0.15 -0.1983 0.7458 1.2 29 259.6
    0.6155 -0.1589 -0.2084 0.7432 1.2 30.6 259.6
    0.6125 -0.1683 -0.2203 0.7402 1.2 32.4 259.6
    0.6095 -0.1788 -0.2329 0.7364 1.2 34.4 259.6
    0.6064 -0.1894 -0.245 0.7323 1.1 36.3 259.6
    0.6031 -0.1992 -0.2568 0.7283 1.1 38.1 259.6
    0.5997 -0.2088 -0.2684 0.7243 1.1 39.9 259.6
    0.5964 -0.2175 -0.2788 0.7205 1.1 41.5 259.6
    0.5933 -0.2254 -0.2878 0.7171 1 42.9 259.6
    0.5897 -0.2345 -0.2988 0.7126 1 44.4 259.6
    0.5853 -0.2446 -0.311 0.7077 1 46.7 259.5
    0.5815 -0.2535 -0.3217 0.7028 1 48.3 259.6
    0.5775 -0.2621 -0.3321 0.6981 1 49.9 259.5
    0.5735 -0.2706 -0.3419 0.6934 1 51.5 259.5
    0.5688 -0.2806 -0.3536 0.6875 0.9 53.4 259.5
    0.5645 -0.289 -0.3641 0.682 1 55.1 259.6
    0.5604 -0.2968 -0.3734 0.6771 0.9 56.7 259.6
    0.5558 -0.3053 -0.3833 0.6714 0.9 58.4 259.6
    0.5512 -0.3134 -0.3932 0.6657 0.9 60.1 259.6
    0.5472 -0.3209 -0.402 0.6602 0.9 61.7 259.6
    0.5432 -0.328 -0.4113 0.6544 1 63.3 259.7
    0.5391 -0.3345 -0.4197 0.6489 1 64.7 259.8
    0.534 -0.3422 -0.4279 0.6439 0.9 66.3 259.7
    0.5284 -0.3503 -0.4352 0.6391 0.7 67.8 259.5
    0.5253 -0.3558 -0.4417 0.6342 0.7 69 259.6
    0.5213 -0.362 -0.4488 0.629 0.7 70.3 259.6
    0.5161 -0.3702 -0.4577 0.6221 0.7 72 259.7
    0.5108 -0.3776 -0.4666 0.6154 0.7 73.7 259.7
    0.5055 -0.3849 -0.475 0.6087 0.7 75.3 259.7
    0.5005 -0.3918 -0.4827 0.6024 0.6 76.8 259.8
    0.4956 -0.3979 -0.4901 0.5964 0.6 78.3 259.8
    0.49 -0.4054 -0.4984 0.5892 0.6 79.9 259.8
    0.4827 -0.4141 -0.5083 0.5805 0.6 81.9 259.8
    0.4753 -0.4231 -0.5181 0.5714 0.5 84 259.8
    0.4684 -0.4312 -0.5271 0.5628 0.5 85.8 259.9
    0.462 -0.4385 -0.5353 0.5546 0.5 87.6 259.9
    0.4545 -0.4474 -0.5451 0.5441 0.5 89.7 260.1
    0.4446 -0.4578 -0.5559 0.5325 0.4 92.1 260
    0.4333 -0.4694 -0.5685 0.5182 0.4 95 260.1
    0.4214 -0.481 -0.5811 0.5032 0.3 97.9 260.2
    0.408 -0.4919 -0.5937 0.4888 0.2 100.9 260
    0.3929 -0.5002 -0.6069 0.4764 0 103.8 259.4
    0.3796 -0.5081 -0.6182 0.4641 -0.1 106.4 258.9
    0.3688 -0.5168 -0.6269 0.4514 -0.2 108.8 258.9
    0.3654 -0.5222 -0.6304 0.4431 -0.1 110 259.4
    0.3699 -0.5251 -0.6271 0.4404 0.1 109.9 260.4
    0.367 -0.5297 -0.6299 0.4334 0.2 110.9 260.8
    0.3606 -0.5342 -0.6349 0.4259 0.2 112.3 260.8
    0.3545 -0.5392 -0.6394 0.4178 0.2 113.7 260.9
    0.347 -0.5455 -0.6446 0.408 0.1 115.4 261
    0.3383 -0.5521 -0.6505 0.3969 0.1 117.3 261.2
    0.3295 -0.5583 -0.6567 0.3852 0.1 119.3 261.3
    0.3201 -0.5646 -0.663 0.3729 0.2 121.4 261.5
    0.3102 -0.571 -0.6686 0.3613 0.1 123.4 261.5
    0.301 -0.5773 -0.6739 0.3493 0.1 125.4 261.7
    0.2912 -0.5833 -0.679 0.3375 0.1 127.3 261.8
    0.2831 -0.5884 -0.6829 0.3273 0.1 128.9 261.9
    0.2764 -0.5928 -0.6861 0.3185 0.1 130.3 262.1
    0.27 -0.5968 -0.689 0.3102 0.1 131.5 262.3
    0.2538 -0.6063 -0.6951 0.2911 0 134.4 262.4
    0.2451 -0.6113 -0.6985 0.2797 0 136.4 82.6
    0.236 -0.6163 -0.7017 0.2683 0 138.1 82.8
    0.2277 -0.6204 -0.7046 0.2582 0 139.6 82.9
    0.22 -0.6243 -0.707 0.2487 0 141 83
    0.2126 -0.6281 -0.709 0.2399 0 142.3 83.2
    0.206 -0.6316 -0.7106 0.2314 0 143.6 83.4
    0.2 -0.6349 -0.7119 0.2238 0 144.8 83.6
    0.1932 -0.6385 -0.7128 0.2159 0 146 83.8
    0.1862 -0.642 -0.7142 0.2071 0 147.4 84
    0.1782 -0.6458 -0.7156 0.1974 0 148.9 84.2
    0.17 -0.6493 -0.717 0.1878 0 150.4 84.4
    0.1531 -0.6564 -0.7194 0.1676 0 153.5 84.8
    0.1444 -0.6599 -0.7202 0.1582 0 155.1 85
    0.1354 -0.663 -0.7211 0.148 -0.1 156.7 85.2
    0.1267 -0.6659 -0.722 0.138 0 158.3 85.3
    0.1196 -0.6686 -0.7223 0.1298 0 159.6 85.5
    0.1115 -0.6711 -0.7228 0.1206 0 161 85.7
    0.1015 -0.6745 -0.7229 0.1097 -0.1 162.7 86
    0.0912 -0.6776 -0.7231 0.0983 -0.1 164.5 86.2
    0.0804 -0.6804 -0.7233 0.0864 -0.1 166.4 86.4
    0.0687 -0.683 -0.7233 0.0742 -0.1 168.4 86.6
    0.0583 -0.6849 -0.7235 0.0626 -0.1 170.2 86.7
    0.0482 -0.687 -0.7232 0.0521 -0.1 171.8 86.9
    0.0389 -0.6889 -0.7225 0.0424 -0.1 173.4 87.1
    0.03 -0.6905 -0.7219 0.033 -0.1 174.9 87.2
    0.0222 -0.6918 -0.7213 0.0247 -0.1 176.2 87.4
    0.0129 -0.6935 -0.7202 0.0148 -0.1 177.7 87.6
    0.0032 -0.6953 -0.7186 0.0048 -0.1 179.3 87.8
    0.0067 0.6965 0.7174 0.0055 -0.1 -179 88
    0.0165 0.6979 0.7158 0.0154 -0.1 -177.4 88.2
    0.0243 0.6986 0.7147 0.0234 -0.1 -176.1 88.4
    0.0311 0.6995 0.7132 0.0302 -0.1 -175 88.5
    0.0372 0.7002 0.712 0.0361 -0.1 -174 88.7
    0.0417 0.7009 0.7108 0.0408 -0.1 -173.3 88.8
    0.0449 0.7018 0.7095 0.044 -0.1 -172.8 89
    0.0479 0.7025 0.7084 0.0471 -0.1 -172.3 89.1
    0.0518 0.7029 0.7075 0.0508 -0.1 -171.7 89.2
    0.0556 0.7037 0.7062 0.0546 -0.1 -171 89.3
    0.0589 0.7042 0.7051 0.0576 -0.1 -170.5 89.5
    0.0623 0.7047 0.7041 0.0606 -0.1 -170 90.5
    0.0649 0.7052 0.7031 0.0632 -0.1 -169.6 90.6
    0.066 0.7057 0.7025 0.0641 -0.1 -169.4 90.7
    0.0668 0.706 0.702 0.0648 -0.1 -169.3 90.7
    0.0669 0.706 0.702 0.0647 -0.1 -169.3 90.7
    0.0659 0.7068 0.7014 0.0635 -0.1 -169.5 90.9
    0.0638 0.7075 0.7011 0.061 -0.2 -169.8 90.9
    0.0609 0.7083 0.7008 0.0582 -0.2 -170.3 91
    0.0585 0.7089 0.7007 0.0557 -0.2 -170.7 91.1
    0.0568 0.709 0.7007 0.0539 -0.2 -171 91.1
    0.0551 0.7098 0.7003 0.0519 -0.2 -171.3 91.2
    0.0534 0.7101 0.7002 0.05 -0.2 -171.6 91.2
    0.0502 0.7107 0.7001 0.0468 -0.2 -172.1 91.2
    0.0455 0.7111 0.7003 0.0421 -0.2 -172.9 91.3
    0.0396 0.7114 0.7007 0.0362 -0.2 -173.8 91.2
    0.0318 0.7115 0.7014 0.0284 -0.2 -175.1 91.2
    0.0215 0.712 0.7016 0.0183 -0.2 -176.8 91.2
    0.0092 0.7121 0.7019 0.0062 -0.2 -178.7 91.2
    0.0043 -0.7121 -0.702 0.007 -0.2 179.1 91.2
    0.0182 -0.7117 -0.7019 0.0206 -0.2 176.8 91.2
    0.0328 -0.7111 -0.7014 0.035 -0.2 174.5 91.2
    0.047 -0.7098 -0.701 0.0489 -0.2 172.2 91.1
    0.0604 -0.7079 -0.7009 0.0621 -0.2 170 91
    0.0729 -0.7061 -0.7003 0.0746 -0.2 168 90.9
    0.0848 -0.704 -0.6998 0.0864 -0.2 166 90.8
    0.0953 -0.7017 -0.6994 0.0967 -0.1 164.3 90.6
    0.1055 -0.6997 -0.6984 0.1068 -0.1 162.6 90.6
    0.1154 -0.6972 -0.6978 0.1169 -0.1 161 89.5
    0.124 -0.695 -0.6969 0.1258 -0.1 159.5 89.4
    0.1307 -0.6932 -0.6962 0.1327 -0.1 158.4 89.3
    0.1389 -0.6911 -0.6951 0.1412 -0.1 157 89.2
    0.147 -0.6882 -0.6945 0.1495 -0.1 155.6 89.1
    0.1548 -0.6856 -0.6935 0.1577 -0.1 154.2 88.9
    0.1639 -0.6827 -0.6921 0.1672 -0.1 152.7 88.8
    0.173 -0.6795 -0.6907 0.1768 -0.1 151.1 88.7
    0.1827 -0.6758 -0.6891 0.1868 0 149.4 88.5
    0.1928 -0.6721 -0.6872 0.1967 0 147.7 88.4
    0.2023 -0.6685 -0.6851 0.2069 0 146.1 88.3
    0.2114 -0.6649 -0.6829 0.2163 0.1 144.5 88.2
    0.2202 -0.6616 -0.6802 0.2261 0 142.9 88.1
    0.2302 -0.6575 -0.6772 0.2369 0 141.2 88
    0.2407 -0.6525 -0.6744 0.2478 0.1 139.4 87.8
    0.2511 -0.6473 -0.6713 0.2592 0.1 137.6 87.7
    0.2615 -0.642 -0.6678 0.2711 0.1 135.9 87.5
    0.2719 -0.6368 -0.6641 0.2819 0.1 133.8 267.7
    0.283 -0.6307 -0.6597 0.2945 0.1 131.8 267.5
    0.296 -0.6239 -0.6542 0.3082 0.2 129.6 267.5
    0.3096 -0.616 -0.6484 0.3226 0.2 127.1 267.4
    0.323 -0.608 -0.6422 0.3369 0.3 124.6 267.4
    0.3367 -0.5991 -0.6356 0.3517 0.4 122 267.3
    0.3495 -0.5902 -0.6285 0.3665 0.4 119.4 267.1
    0.3623 -0.5809 -0.6218 0.3802 0.5 116.8 267
    0.3742 -0.572 -0.6149 0.3932 0.6 114.4 267
    0.3871 -0.5618 -0.6069 0.4075 0.7 111.7 266.9
    0.4004 -0.5511 -0.5983 0.4219 0.8 109 266.8
    0.4132 -0.54 -0.5897 0.4357 1 106.2 266.8
    0.4254 -0.5287 -0.5807 0.4496 1.1 103.5 266.7
    0.4367 -0.5182 -0.5704 0.464 1 100.8 266.4
    0.4481 -0.5068 -0.5623 0.4755 1.3 98.4 266.5
    0.459 -0.4954 -0.5536 0.4871 1.5 96 266.5
    0.4684 -0.485 -0.5434 0.5 1.4 93.5 266.2
    0.4783 -0.4736 -0.5339 0.5117 1.5 91.1 266
    0.4881 -0.462 -0.5242 0.5229 1.6 88.6 266
    0.4972 -0.4509 -0.5137 0.5343 1.7 86.2 265.8
    0.5059 -0.4398 -0.5037 0.5449 1.7 83.9 265.7
    0.514 -0.4286 -0.4937 0.5552 1.8 81.6 265.5
    0.5214 -0.4178 -0.4841 0.5649 1.9 79.5 265.4
    0.529 -0.4069 -0.4749 0.5735 2 77.4 265.3
    0.5358 -0.3971 -0.4657 0.5816 2.1 75.4 265.3
    0.5408 -0.389 -0.4584 0.5881 2.2 73.9 265.2
    0.5455 -0.3813 -0.4517 0.5941 2.3 72.4 265.1
    0.5504 -0.3727 -0.4429 0.6015 2.2 70.6 264.9
    0.5555 -0.3632 -0.4338 0.6094 2.3 68.8 264.7
    0.561 -0.3536 -0.4241 0.6166 2.3 66.9 264.6
    0.5667 -0.3431 -0.4136 0.6245 2.3 64.8 264.5
    0.5731 -0.3311 -0.4023 0.6324 2.4 62.6 264.4
    0.5794 -0.3193 -0.3904 0.6401 2.5 60.3 264.4
    0.5847 -0.3085 -0.3782 0.6479 2.4 58.1 264.2
    0.5881 -0.299 -0.3676 0.6554 2.3 56.3 263.9
    0.5906 -0.2909 -0.3589 0.6616 2.2 54.7 263.6
    0.592 -0.2841 -0.3503 0.6678 2 53.3 263.3
    0.5935 -0.2779 -0.3418 0.6735 1.8 52 262.9
    0.5957 -0.2706 -0.3339 0.6785 1.7 50.7 262.7
    0.5984 -0.2637 -0.3265 0.6824 1.8 49.5 262.7
    0.6007 -0.2572 -0.3194 0.6862 1.8 48.3 262.6
    0.6024 -0.2519 -0.3143 0.6891 1.8 47.5 262.5
    0.604 -0.2456 -0.3081 0.6927 1.8 46.5 262.4
    0.6059 -0.2396 -0.3021 0.6958 1.9 45.5 262.3
    0.6077 -0.2336 -0.2964 0.6987 1.9 44.2 262.2
    0.6096 -0.2285 -0.2909 0.701 2 43.3 262.2
    0.6115 -0.2222 -0.2845 0.704 2 42.3 262.2
    0.6133 -0.2145 -0.2772 0.7077 2.1 41.1 262
    0.6155 -0.2082 -0.2693 0.7108 2 39.9 262
    0.6174 -0.2011 -0.2615 0.7141 2 38.7 261.9
    0.6187 -0.1951 -0.2549 0.717 2 37.7 261.8
    0.6199 -0.1899 -0.2493 0.7193 2 36.7 261.7
    0.6208 -0.1849 -0.2437 0.7217 2 35.8 261.6
    0.6215 -0.1808 -0.2393 0.7236 2 35.1 261.6
    0.622 -0.1771 -0.2348 0.7256 2 34.4 261.5
    0.623 -0.1715 -0.2299 0.7277 2.1 33.6 261.4
    0.6242 -0.166 -0.2238 0.7298 2.1 32.6 261.3
    0.6255 -0.1601 -0.2173 0.732 2.1 31.5 261.3
    0.6266 -0.1536 -0.21 0.7345 2.1 30.4 261.2
    0.6287 -0.1437 -0.1982 0.738 2.1 28.5 261.1
    0.6306 -0.1339 -0.1869 0.7412 2.1 26.7 261
    0.631 -0.129 -0.1814 0.7431 2.1 25.8 260.9
    0.6316 -0.1232 -0.1755 0.745 2.2 24.9 260.9
    0.6324 -0.1168 -0.1679 0.7471 2.2 23.7 260.8
    0.6328 -0.1124 -0.1629 0.7485 2.2 22.9 260.7
    0.6329 -0.1074 -0.1584 0.7501 2.3 22.1 260.6
    0.633 -0.1013 -0.1536 0.7519 2.4 21.2 260.5
    0.6328 -0.0955 -0.1496 0.7537 2.6 20.4 260.3
    0.6325 -0.0905 -0.1457 0.7552 2.7 19.7 260.2
    0.6325 -0.0863 -0.1412 0.7566 2.7 19 260.1
    0.6324 -0.0822 -0.1352 0.7582 2.6 18.1 260
    0.6323 -0.0779 -0.1296 0.7598 2.6 17.3 259.9
    0.6318 -0.0734 -0.1253 0.7614 2.7 16.5 259.7
    0.6308 -0.0693 -0.1218 0.7631 2.7 15.9 259.5
    0.6298 -0.0656 -0.1183 0.7648 2.8 15.3 259.3
    0.6285 -0.0618 -0.1138 0.7668 2.8 14.7 259
    0.6274 -0.058 -0.1091 0.7687 2.7 14 258.8
    0.626 -0.055 -0.1037 0.7709 2.6 13.3 258.5
    0.6244 -0.0533 -0.0983 0.773 2.3 12.7 258.2
    0.6233 -0.0507 -0.0939 0.7746 2.2 12.1 258
    0.6234 -0.0479 -0.0915 0.775 2.3 11.7 258
    0.6251 -0.045 -0.0886 0.7742 2.3 11.2 258.2
    0.6285 -0.0409 -0.0848 0.772 2.5 10.5 258.7
    0.6307 -0.0375 -0.0806 0.7708 2.5 9.9 258.9
    0.6328 -0.0336 -0.0762 0.7698 2.5 9.2 259.2
    0.6343 -0.03 -0.0715 0.7692 2.5 8.5 259.4
    0.6339 -0.0262 -0.0668 0.7701 2.5 7.8 259.3
    0.6334 -0.0231 -0.0628 0.7708 2.5 7.3 259.2
    0.6331 -0.0196 -0.0597 0.7715 2.6 6.7 259.1
    0.6328 -0.0178 -0.0575 0.7719 2.6 6.4 259
    0.6328 -0.0164 -0.0559 0.7721 2.6 6.2 259
    0.6323 -0.014 -0.0549 0.7726 2.7 5.9 259
    0.6321 -0.0125 -0.0529 0.7729 2.7 5.6 258.9
    0.6318 -0.0107 -0.0511 0.7733 2.7 5.3 258.9
    0.6309 -0.0059 -0.0496 0.7742 3.1 4.8 258.7
    0.6304 -0.0047 -0.043 0.775 2.7 4.2 258.6
    0.6301 -0.0039 -0.0389 0.7755 2.5 3.7 258.6
    0.6295 -0.0023 -0.0371 0.7761 2.5 3.5 258.5
    0.6287 -0.0001 -0.0349 0.7769 2.5 3.1 258.4
    0.6281 0.0013 -0.033 0.7773 2.5 2.8 258.3
    0.6276 0.002 -0.032 0.7778 2.5 2.7 258.2
    0.6273 0.0031 -0.0311 0.7781 2.5 2.5 258.1
    0.627 0.004 -0.0305 0.7784 2.5 2.4 258.1
    0.6265 0.0049 -0.0296 0.7787 2.6 2.3 258
    0.6262 0.007 -0.0275 0.7791 2.6 2 258
    0.6257 0.0084 -0.0259 0.7795 2.6 1.7 257.9
    0.625 0.0094 -0.0247 0.7801 2.6 1.5 257.8
    0.6243 0.0107 -0.024 0.7807 2.7 1.4 257.7
    2.
    Quat W X Y Z Euler X Y Z
    0.6188 -0.5388 -0.439 0.366 8.6 88 298.3
    0.618 -0.5392 -0.4401 0.3654 8.6 88.2 298.3
    0.6171 -0.5397 -0.441 0.3651 8.6 88.4 298.2
    0.6163 -0.5396 -0.4419 0.3656 8.6 88.4 298.1
    0.6155 -0.5394 -0.4427 0.3664 8.6 88.5 297.9
    0.615 -0.5393 -0.4431 0.3668 8.6 88.5 297.8
    0.6149 -0.5394 -0.4431 0.3669 8.6 88.5 297.8
    0.6146 -0.5392 -0.4433 0.3672 8.6 88.5 297.7
    0.6144 -0.5391 -0.4436 0.3675 8.6 88.5 297.7
    0.6139 -0.5389 -0.444 0.368 8.5 88.6 297.6
    0.6136 -0.5388 -0.4442 0.3685 8.5 88.6 297.5
    0.6134 -0.5388 -0.4442 0.3688 8.5 88.6 297.4
    0.613 -0.5381 -0.4446 0.3699 8.4 88.5 297.2
    0.6125 -0.5373 -0.4449 0.3715 8.4 88.5 297
    0.6132 -0.5348 -0.4447 0.3743 8.3 88.1 296.7
    0.6143 -0.5319 -0.444 0.3774 8.3 87.7 296.3
    0.6149 -0.5297 -0.4434 0.3802 8.2 87.4 296
    0.6155 -0.5279 -0.4429 0.3824 8.1 87.1 295.7
    0.6164 -0.5265 -0.442 0.3839 8.1 86.8 295.6
    0.6172 -0.5253 -0.4411 0.3852 8 86.6 295.5
    0.6185 -0.5239 -0.4399 0.3865 8 86.3 295.4
    0.6197 -0.5228 -0.4384 0.3879 7.9 86 295.4
    0.6207 -0.5212 -0.4368 0.3899 7.8 85.7 295.2
    0.6222 -0.52 -0.4346 0.3918 7.7 85.3 295
    0.6247 -0.5186 -0.4301 0.3947 7.3 84.6 294.9
    0.626 -0.5176 -0.4277 0.3964 7.2 84.3 294.8
    0.6276 -0.5168 -0.425 0.3977 7 84 294.7
    0.6288 -0.5165 -0.4226 0.399 6.9 83.7 294.6
    0.6297 -0.5165 -0.4202 0.4 6.7 83.5 294.6
    0.6301 -0.5165 -0.4185 0.4013 6.5 83.3 294.4
    0.6308 -0.5165 -0.4164 0.4022 6.3 83.1 294.4
    0.6317 -0.5165 -0.4141 0.4032 6.1 82.9 294.3
    0.6326 -0.5167 -0.4119 0.4038 6 82.7 294.3
    0.6329 -0.5171 -0.4108 0.4041 5.9 82.6 294.3
    0.6326 -0.5176 -0.4103 0.4041 5.8 82.6 294.3
    0.6321 -0.5178 -0.4106 0.4045 5.8 82.7 294.2
    0.6318 -0.5179 -0.4108 0.4047 5.7 82.7 294.1
    0.6318 -0.5175 -0.4101 0.4059 5.6 82.6 294
    0.6321 -0.517 -0.4086 0.4075 5.5 82.4 293.8
    0.6323 -0.5172 -0.4067 0.4089 5.2 82.3 293.6
    0.6315 -0.5181 -0.4047 0.411 4.9 82.2 293.3
    0.6301 -0.5193 -0.4023 0.4139 4.4 82.1 292.8
    0.6286 -0.5206 -0.4005 0.4163 4 82.1 292.4
    0.6272 -0.5212 -0.3992 0.4189 3.7 82 291.9
    0.626 -0.5218 -0.3978 0.4212 3.4 82 291.6
    0.6249 -0.5228 -0.3955 0.4237 2.9 81.9 291.1
    0.6234 -0.5244 -0.3911 0.4282 2.2 81.7 290.5
    0.6215 -0.5258 -0.3869 0.433 1.5 81.5 289.7
    0.6204 -0.527 -0.3828 0.4367 0.8 81.3 289.1
    0.6194 -0.5284 -0.3785 0.4402 0.2 81.1 288.6
    0.6185 -0.5302 -0.3736 0.4435 -0.5 80.8 288.2
    0.6177 -0.5324 -0.3676 0.447 -1.2 80.6 287.7
    0.6168 -0.5349 -0.3606 0.4509 -2.1 80.3 287.1
    0.6158 -0.5374 -0.353 0.4553 -3.1 80 286.5
    0.6142 -0.5405 -0.3447 0.4601 -4.2 79.7 285.8
    0.6079 -0.5492 -0.3273 0.4708 -6.8 79.4 284
    0.6029 -0.5546 -0.3193 0.4764 -8.3 79.4 282.9
    0.5969 -0.5607 -0.3123 0.4812 -9.6 79.7 281.8
    0.59 -0.5671 -0.3062 0.4863 -11 80 280.6
    0.5826 -0.5736 -0.3008 0.491 -12.3 80.5 279.4
    0.5748 -0.58 -0.2963 0.4954 -13.6 81 278.2
    0.5671 -0.586 -0.2921 0.4995 -14.8 81.5 277.1
    0.5593 -0.5917 -0.2885 0.5037 -15.9 82 275.9
    0.5521 -0.5975 -0.2847 0.507 -17 82.6 274.9
    0.5453 -0.6027 -0.2809 0.5103 -18.1 83 273.9
    0.5391 -0.6074 -0.2771 0.5134 -19.1 83.4 273
    0.5339 -0.6113 -0.2734 0.5161 -19.9 83.7 272.2
    0.5294 -0.6143 -0.2704 0.5189 -20.7 83.9 271.5
    0.5256 -0.6166 -0.2676 0.5214 -21.3 84.1 270.9
    0.5219 -0.6186 -0.2652 0.5239 -21.9 84.2 269.3
    0.5181 -0.621 -0.2624 0.5264 -22.6 84.3 268.7
    0.514 -0.6233 -0.2593 0.5291 -23.3 84.5 268.1
    0.5098 -0.6257 -0.2559 0.532 -24 84.6 267.3
    0.5052 -0.6284 -0.2519 0.535 -24.9 84.7 266.6
    0.5002 -0.631 -0.2477 0.5387 -25.8 84.8 265.7
    0.4951 -0.6336 -0.2433 0.5422 -26.7 85 264.8
    0.4894 -0.6362 -0.2391 0.5463 -27.7 85.1 263.8
    0.4836 -0.6385 -0.2346 0.5506 -28.7 85.1 262.8
    0.4775 -0.6409 -0.2299 0.5552 -29.7 85.2 261.6
    0.4715 -0.6429 -0.2251 0.5599 -30.8 85.2 260.5
    0.4657 -0.6448 -0.2204 0.5645 -31.8 85.2 259.4
    0.4597 -0.6464 -0.2156 0.5695 -32.8 85.1 258.2
    0.4539 -0.6479 -0.2111 0.574 -33.8 85.1 257.1
    0.4492 -0.6489 -0.2067 0.5782 -34.7 85 256.1
    0.4447 -0.6495 -0.2021 0.5826 -35.5 84.8 255.2
    0.4401 -0.6503 -0.1967 0.587 -36.4 84.5 254.2
    0.4349 -0.651 -0.1913 0.5919 -37.4 84.3 253.1
    0.4297 -0.6517 -0.1858 0.5967 -38.4 84 252.1
    0.4246 -0.6525 -0.1804 0.601 -39.3 83.8 251
    0.4197 -0.6533 -0.1753 0.6052 -40.2 83.6 250
    0.4154 -0.6538 -0.1701 0.6091 -41 83.4 249.1
    0.4112 -0.6544 -0.1646 0.6128 -41.9 83.1 248.3
    0.4066 -0.6553 -0.1595 0.6163 -42.7 82.9 247.4
    0.3971 -0.6569 -0.1492 0.6232 -44.3 82.6 245.5
    0.3926 -0.6573 -0.1442 0.6268 -45.5 82.3 244.7
    0.389 -0.6578 -0.1392 0.6298 -46.2 82 243.9
    0.3856 -0.6581 -0.1342 0.6326 -46.9 81.8 243.2
    0.3823 -0.6583 -0.1293 0.6353 -47.5 81.5 242.6
    0.3791 -0.6586 -0.1244 0.6379 -48.2 81.2 242
    0.3761 -0.659 -0.1191 0.6403 -48.8 81 241.4
    0.3726 -0.6596 -0.1142 0.6426 -49.5 80.8 240.7
    0.369 -0.6603 -0.1095 0.6448 -50.2 80.6 240.1
    0.3653 -0.6609 -0.1048 0.6471 -50.9 80.4 239.4
    0.3616 -0.6613 -0.1001 0.6495 -51.6 80.2 238.7
    0.3578 -0.662 -0.0952 0.6515 -52.4 80 238
    0.3542 -0.6628 -0.0905 0.6534 -53.1 79.8 237.4
    0.3503 -0.6639 -0.0862 0.6549 -53.7 79.8 236.7
    0.3463 -0.6653 -0.0822 0.6563 -54.4 79.9 236.1
    0.3424 -0.6663 -0.078 0.6577 -55.1 79.9 235.4
    0.3384 -0.6672 -0.0738 0.6594 -55.8 79.8 234.8
    0.3344 -0.6678 -0.0692 0.6613 -56.5 79.6 234.1
    0.3305 -0.668 -0.0651 0.6635 -57.2 79.4 233.4
    0.327 -0.6686 -0.0605 0.665 -57.9 79.2 232.8
    0.3228 -0.6699 -0.0558 0.6662 -58.7 79.2 232.1
    0.3174 -0.6716 -0.0511 0.6675 -59.5 79.4 231.2
    0.3121 -0.673 -0.0458 0.6689 -60.4 79.4 230.4
    0.3069 -0.6741 -0.0401 0.6705 -61.3 79.4 229.5
    0.3018 -0.675 -0.0344 0.6724 -62.3 79.2 228.7
    0.2968 -0.6756 -0.0289 0.6743 -63.1 79 227.8
    0.2927 -0.6759 -0.0239 0.6759 -63.9 78.7 227.1
    0.2892 -0.6758 -0.0195 0.6776 -64.6 78.4 226.5
    0.2863 -0.6757 -0.0156 0.6791 -65.2 78 226
    0.2838 -0.6757 -0.012 0.6802 -65.7 77.8 225.6
    0.2815 -0.6756 -0.0096 0.6813 -66.1 77.5 225.2
    0.2805 -0.6755 -0.007 0.6818 -66.4 77.3 225
    0.2797 -0.6756 -0.0047 0.6821 -66.6 77.2 224.9
    0.2788 -0.6757 -0.0024 0.6823 -66.9 77.1 224.7
    0.2781 -0.676 -0.0005 0.6823 -67.1 77.1 224.6
    0.2775 -0.6763 0.0011 0.6823 -67.3 77.1 224.5
    0.2764 -0.6765 0.0022 0.6825 -67.5 77.1 224.4
    0.2751 -0.6768 0.0035 0.6828 -67.7 77.1 224.2
    0.2734 -0.6771 0.0054 0.6831 -68 77.1 223.9
    0.2713 -0.6774 0.0078 0.6837 -68.4 77 223.5
    0.2688 -0.6773 0.0097 0.6847 -68.8 76.8 223.1
    0.2662 -0.6771 0.012 0.6858 -69.1 76.5 222.7
    0.2637 -0.6772 0.0141 0.6867 -69.5 76.2 222.3
    0.2612 -0.6772 0.0157 0.6876 -69.9 76.1 221.8
    0.2591 -0.6773 0.0173 0.6882 -70.2 75.9 221.5
    0.2573 -0.6774 0.0189 0.6888 -70.5 75.8 221.2
    0.2554 -0.6773 0.0205 0.6896 -70.8 75.5 220.9
    0.2531 -0.6774 0.0223 0.6903 -71.1 75.3 220.5
    0.2508 -0.6772 0.0239 0.6912 -71.4 75 220.1
    0.249 -0.6771 0.0261 0.6919 -71.7 74.8 219.8
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    3 REPLIES 3

    BSTRobin
    Community Moderator
    Community Moderator

    Hi hjoungjoo,

    1.As you would like to design a product, suggest you use BHI260AP.
    2.You need to calibrate accel, gyro and mag until the calibration accuracy reaches 3, and then do the test.
    2.As you used geomanetic sensor AK09915 in your product, besides the physical sensor calibration states it is also possible to write a soft iron calibration(SIC) matrix and read BSX version information.

    1.As you would like to design a product, suggest you use BHI260AP.
    > We still have a lot of BHI260AB left. I plan to use and change the quantity I purchased before.


    2.You need to calibrate accel, gyro and mag until the calibration accuracy reaches 3, and then do the test.
    > The same problem occurs when calibration accuracy 3 are present.


    2.As you used geomanetic sensor AK09915 in your product, besides the physical sensor calibration states it is also possible to write a soft iron calibration(SIC) matrix and read BSX version information.
    > I'm also reviewing this part and developing it.

    BSTRobin
    Community Moderator
    Community Moderator

    Hi hjoungjoo,

    How is the current situation?

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