How do I convert the Rawdata of the Gyroscope and the accelerometer into °/s and m/s^2?
-----> For Acc if the register data is 16-bits
Sensitivity(in datasheet) = (2^15)/Range .
Example: Range = +/-8G, then sensitivity = (2^15)/8 * 9.8 (LSB/m/s^2)
m/s^2 = Raw_data / sensitivity
For Gyo , if the register data is 16-bits
Sensitivity(in datasheet) = (2^15)/Range
Example: Range = +/-2000dps, then sensitivity = (2^15)/2000 (LSB/°/s)
°/s = Raw_data / sensitivity
Do I need to multiply the raw data with the typ. value of the sensitivity? (LSB/°/s)
-------> No. Raw data (LSB) divided by the corresponding sensitivity
How do I know which range I am having in my programme, when I did not set any?
-------> please check the sensor's datasheet register map,
Address 0x41 for Acc range setting; 0x43 for Gyro range setting
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If you want to reload the config file from Host to save time when you turn on the device. It depends on the device you mentioned (i.e. robot arm, wearable device). You can do so by saving calibration time, but it is not recommended because there is a potential issue, for example: • get status(3) • store calibration file on host side • turn off the device • rotate the device 180 degree • turn on the device • reload the previous calibration file. But the direction is opposite now.
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