I'm using the BHI260AB hosted by an STM32.
In my application, I use the Game Rotation Vector for getting the current orientation of the device. But I noted that if I apply a constant vibration (3Hz) on the device, the Game Rotation Vector quaternion got from the chip starts shifting over time. The vibration applied is really slow and has low amplitude, it's just a subtle shaking of the device.
At the beginning of the test the resulting quaternion of the Game Rotation Vector was:
After 1 minute of shaking the device, the resulting quaternion on the same position was:
Solved! Go to Solution.
It's the static calibration method. The calibration method is like:
After a good six-sided calibration described above, the accuracy of the virtual sensor, Accelerometer Calibrated would becomes 3. Otherwise, you have to do the six-sided calibration again, because, maybe you did not put the device on a flat place or the calibration time for each side is too short.
I'm still trying to read out the calibration state from the BHI chip. See the "BHI260 - Calibration State - BSX Algorithm Parameters" thread (https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BHI260-Calibration-State-BSX-Algorithm-P....
Once I get that working I'll be able to validate the drifting issue.