Hello everyone,
In our project we are using BHI260AP in conjunction with BMM150. We are currently doing roll, pitch and yaw tests to determine if we get the correct angles. The data we are getting from our IMU are the euler angles and the euler angles that are converted from quaternions. For the yaw test, the interval is (-180 ,180 )degrees. The problem we are facing is that when the yaw angle, switches from -180 to 180 degrees e.g. in negative rotation, it goes usual to 178 degree. AND THEN IT SWITCHES TO -178. And with that switch, roll and pitch angles are increasing for 2-3 degrees. Then, like nothing happened, it goes to -180 and angle switches to positive and it decreases from there. This happens everytime we switch from -180 to 180 degrees and This change only occurs on the angles that are converted from the quaternions while the roll and pitch values of the euler angles stay consistent.
For example,
1.1234, 1.0452 -177.38
1.1234, 1.0452 -178.6921
1.1234, 1.0452 -178.992
1.1234, 1.0452 -179.4921
1.1234, 1.0452 -179.99
-2.5692 4.1034 179.8873
-2.5692 4.1034 179.687
-2.5692 4.1034 179.38
-2.5692 4.1034 178.75
-2.5692 4.1034 178.75
-2.5692 4.1034 178.35 (nearly the boundary that switches sign)
-2.5692 4.1034 -178.432
-2.5692 4.1034 -178.8
-2.5692 4.1034 -179.9
-2.5692 4.1034 179.8873
-2.5692 4.1034 179.687
-2.5692 4.1034 179.38
from now on, it acts usual (goes to 0 then -179)
The data we are getting is similar to the above. We think the problem may be gimbal lock (don't know how) or data processings in embedded code. Do you have any idea what may cause this?
Thank you in advance.
