bno 055 gyro behavior on slowly rotation

[lin_jeff]

If  AGV keep constant rotation speed at 0.07rad/s ,the value of gyro decrease to zero.

When rotation speed greater than 0.3rad/s, the gyro value looks well.

I don't know what happen of these bno055 module.

[o_o]

This is expected behavior. Under a certain threshold for certain amount of time, zero-rate is artificially set to zero and the offset is calibrated out. This greatly reduces heading drift.

o_o

[lin_jeff]

but my application need real time rotation data, are there any solution of this problem?

[o_o]

If you do not need the heading, then you can use AMG mode, and you can get rate of rotation from the gyroscope data.
If you do need the heading, then you could use COMPASS or M4G modes, but be aware that the heading will no longer be robust against magnetic field distortions.

o_o

[lin_jeff]

So the fushion mode can't be use on robot ,right?