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.
I use BHI in IMU mode. I don't have any external magnetometer attached to the BHI chip, the BHI uses its internal accelerometer and the gyroscope.
As additional info, I host the BHI with an STM32 microcontroller connected over SPI.
Let me enumerate the entire sequence from the startup until I start reading the Game Rotation Vector values.