Orientation Error in Yaw of BNO055 in 9DOF Mode?

[BSTRobin]

Hello A_Levy,

We had a test with BNO055 USB stick, attachment was log file. We could see the system accuracy drop to 3 sometimes, but it can be back to 3.

Let's narrow down the issue, which one is you want care first?
the sys accuracy drop
yaw drift

If you care yas drift first, you could test it, and give out your requirement, test result.

[A_Levy]

Hello BTS_Robin, 

Thank you for your reply. Our first problem is the system calibration drop away from 3/3 (i think that is cauing the dirft in the yaw). Here is a CSV file from one of our recent tests. 

This data was taken with the BNO055 Development Kit and Shuttle, aswell as the most recent firmware. Given we are using this hardware and firmware i cannot figure out why the CS value spends so much time away from 3/3.

ALevy

[A_Levy]

Hello BTS_robin, 

I took a look at the sample data that you sent. I notcied that the system calibration data spends most of its time not at 3/3. THis is exactly the problem that we're experiecneing.

[BSTRobin]

Hello A_Levy,

System accuracy change because of the changes in the surrounding environment. I think you should care yaw drift first, you could see previous log file that accelerometer calibration status, magnetometer calibration status, gyroscope calibration status  were 3.

Please focus on yaw drift first, with your test and requirement, we analyse it again.

Thanks.

[A_Levy]

Hello BTS_Robin,.

The yaw drift is being caused by chnages in the system calibration. Should the system caliubration value not alos read 3/3 the entire time?

Our yaw drifts whenever the CS values drops from 3/3. These are the same problem. We believe that the root of the probelm is the System calibration value. Even in the latest CSV that you sent me, your CS value flutuacted away from 3/3 a lot.

Alevy