About FAE_CA1

FAE_CA1

Hi, Thanks for your inquiry. BMX160 includes BMI160 IMU and BMM150 magnetometer inside, where BMM150 is connected to BMI160's secondary I2C interface. Please use BMI160 API source code online at https://github.com/BoschSensortec/BMI160_driver to configure BMM150 and get BMM150 raw data in the unit of uT. You cannot directly use BMM150 raw data in the unit of uT to derive pitch/roll/heading angles, because those raw data is not compensated for offsets of x/y/z axes. This means that if you plot BMX160 mag data in 3D space when you rotate your device randomly in 3D space, you will see a shifted sphere or ellipsoid. You will need to determine the offsets so that you can apply them to the collected BMM150 raw data to move the sphere or ellipsoid to the center [0, 0, 0]uT. Then in the future you can always apply thses offset to BMM150 raw data to derive heading angle. For pitch and roll angles you need an accelerometer for tilt compensation. BSXLite library can do mag calibration and tilt compensation for the final pitch/roll/heading Euler angles. BSXLite library can be downloaded online at https://www.bosch-sensortec.com/software-tools/software/sensor-fusion-software/. You can also search this community here for similar topics. Thanks.

FAE_CA1

Hi, Thanks for your feedback. We will check with our API team to see if this is really an issue. If yes, then we will fix it in the new release of BMP280 API on the Github. Thanks.

FAE_CA1

Hi, I propose 200Hz ODR so that you can verify if you can get clean data from BMG250 or not. If yes, then you can implement your own low pass filter such as moving average to reduce the noise further. Then you can implement your own high pass filter so that BMG250 x/y/z data should be around 0dps when it is at rest. In addition, you can also set a small dead zone for example +/-0.5dps to detect if BMG250 is at rest or not. If x/y/z data are within +/-0.5dps range, then it means that BMG250 is at rest and you can manually set them to 0dps so that your integration over time for Euler angles doesn't diverge over time when it is at rest. Thanks.

FAE_CA1

Hi, Thanks for your inquiry. BMA253 FIFO works at low power mode 2 and you can read FIFO data at any time. High-g interrupt usually happens very fast while FIFO data samples may miss the data that is beyond the threshold. You can keep tapping BMA253 to generate high-g interrupt. After you enter ISR you can delay a few data samples time while you are still tapping and then read FIFO. You should be able to see the data samples that are beyond the high-g threshold from the FIFO. Thanks.

FAE_CA1

Hi, Thanks for your inquiry. BMG250 has noise from ADC. The noise level is +/-0.07dps at 200Hz ODR. At +/-125dps full scale range the sensitivity is 262.4LSB/dps. So the noise level at 50Hz ODR = +/-0.07dps * 262.4LSB/dps = +/-18LSBs. Please check your system to find out the reason why you got +/-100LSB noise. In addition, if you want to integrate BMG250 raw data over time to get pitch/roll/yaw angles, you need to implement a high-pass filter to filter out the noise when BMG250 is at rest. Then those angles will not diverge over time. Thanks.

Bosch Shared

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