Hi experts,
I followed SensorAPI to initialize sensor and tried synchronizing BMI270 and BMM350 by myself.
The BMI270(IMU) ODR is 100Hz and bandwidth is OSR2. (both accel and gyro)
The BMM350(MAG) ODR is 100Hz and average is 2.
My application polls for data every 100 ms, but I found a problem in sensortime.
There is my sensortime log:
# [ raw data, transform data : difference from last time ]
# transform data = raw data * 0.0000390625
[ INFO ] IMU TIME(s) [ 28570 1.116016 : 0.105664 ], MAG TIME(s) [ 14548 0.568281 : 0.100000 ], GAP [ 14022 0.547734 ]
[ INFO ] IMU TIME(s) [ 31267 1.221367 : 0.105352 ], MAG TIME(s) [ 17364 0.678281 : 0.110000 ], GAP [ 13903 0.543086 ]
[ INFO ] IMU TIME(s) [ 33961 1.326602 : 0.105234 ], MAG TIME(s) [ 20180 0.788281 : 0.110000 ], GAP [ 13781 0.538320 ]
[ INFO ] IMU TIME(s) [ 36658 1.431953 : 0.105352 ], MAG TIME(s) [ 22740 0.888281 : 0.100000 ], GAP [ 13918 0.543672 ]
[ INFO ] IMU TIME(s) [ 39353 1.537227 : 0.105273 ], MAG TIME(s) [ 25556 0.998281 : 0.110000 ], GAP [ 13797 0.538945 ]
[ INFO ] IMU TIME(s) [ 42046 1.642422 : 0.105195 ], MAG TIME(s) [ 28116 1.098281 : 0.100000 ], GAP [ 13930 0.544141 ]
[ INFO ] IMU TIME(s) [ 44743 1.747773 : 0.105352 ], MAG TIME(s) [ 30932 1.208281 : 0.110000 ], GAP [ 13811 0.539492 ]
[ INFO ] IMU TIME(s) [ 47438 1.853047 : 0.105273 ], MAG TIME(s) [ 33492 1.308281 : 0.100000 ], GAP [ 13946 0.544766 ]
...
[ INFO ] IMU TIME(s) [ 982423 38.375898 : 0.105273 ], MAG TIME(s) [ 970964 37.928281 : 0.110000 ], GAP [ 11459 0.447617 ]
[ INFO ] IMU TIME(s) [ 985118 38.481172 : 0.105273 ], MAG TIME(s) [ 973524 38.028281 : 0.100000 ], GAP [ 11594 0.452891 ]
[ INFO ] IMU TIME(s) [ 987812 38.586406 : 0.105234 ], MAG TIME(s) [ 976340 38.138281 : 0.110000 ], GAP [ 11472 0.448125 ]
[ INFO ] IMU TIME(s) [ 990508 38.691719 : 0.105312 ], MAG TIME(s) [ 978900 38.238281 : 0.100000 ], GAP [ 11608 0.453437 ]
[ INFO ] IMU TIME(s) [ 993203 38.796992 : 0.105273 ], MAG TIME(s) [ 981716 38.348281 : 0.110000 ], GAP [ 11487 0.448711 ]
[ INFO ] IMU TIME(s) [ 995899 38.902305 : 0.105312 ], MAG TIME(s) [ 984276 38.448281 : 0.100000 ], GAP [ 11623 0.454023 ]
[ INFO ] IMU TIME(s) [ 998594 39.007578 : 0.105273 ], MAG TIME(s) [ 987092 38.558281 : 0.110000 ], GAP [ 11502 0.449297 ]
The BMI270's different from last time is not 100ms.
The BMM350's different from last time sometimes is 110 ms.
As time goes by, the gap between BMI270 and BMM350 becomes smaller and smaller, and even the sensor time of BMM350 is later than BMI270.
Does my setting have any incorrect?
Could you give me any advice on syncing?
Thank you for your advice and your time.
