What are the algorithms to be used to generate Quaternion data on Nicla Sense ME?

[hkayan]

Hi,

I have Nicla Sense ME which contains BHI260AP & BMM150. I am curious about the algorithms to be used to generate Quaternion and euler angle.

Also what are the units for accelerometer, gyroscope, and magnetometer data?  

[BSTRobin]

Hello hkayan,

Do you mean the RAW data unit output by the sensor or the unit output by the driving interface?

[hkayan]

Hi Robin,

I mean the unit output by driving interface. I am adding an example code of how I generate my data.

#include "Arduino.h"
#include "Arduino_BHY2.h"
#include "Nicla_System.h"

SensorQuaternion rotation(SENSOR_ID_RV);
SensorOrientation euler(SENSOR_ID_ORI);
float heading = 0;
float pitch = 0;
float roll = 0;
void setup()
{
  Serial.begin(115200);
  while(!Serial);
  BHY2.begin();
  rotation.begin();
  euler.begin();
  //rotation.configure(50, 20); does not work
}

void loop()
{
  // Update function should be continuously polled
  BHY2.update();
  float qX = rotation.x();
  float qY = rotation.y();
  float qZ = rotation.z();
  float qW = rotation.w();
  heading = euler.heading();
  pitch = euler.pitch();
  roll = euler.roll();
}

[BSTRobin]

Hello hkayan,

The unit of pitch, roll and heading is in degree.

[hkayan]

Thanks Robin. How about the accelerometer, gyroscope and magnetometer on below example? I never seen accelerometer generating data value as 3000.

#include "Arduino.h"
#include "Arduino_BHY2.h"
#include "Nicla_System.h"

SensorXYZ accelerometer(SENSOR_ID_ACC);
SensorXYZ gyro(SENSOR_ID_GYRO);
SensorXYZ mag(SENSOR_ID_MAG);
short accX = accelerometer.x();
short accY = accelerometer.y();
short accZ = accelerometer.z();
short gyroX = gyro.x();
short gyroY = gyro.y();
short gyroZ = gyro.z();
short magX = mag.x();
short magY = mag.y();
short magZ = mag.z();