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,

You could refer the output signal table of BHI260AP and BMM150 in data sheet.
accelerometer: LSB/g
gyroscope: LSB/°/s
magnetometer: LSB/μT

[hkayan]

Hi Robin,

All clear now thanks. The only thing left are the quaternions. Which algorithm (madgwick, mahony etc.)is used to generate them?

[BSTRobin · Accepted solution]

Hello hkayan,

Quaternion on Nicla Sense ME used mahony algorithm.

[hkayan]

Thank you very much for this.