This is actually very old topic and already solved but I would like to give some feedbacks as well. This is not a stochaistic noise alone it is a deterministic noise and called Scale Factor nonlinearity. The gyroscopes' Scale factor can change depending on the rate. This is why you get different noise levels at different rate outputs.
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Hi,
This is expected and it is so called temperature hysteresis. Please see more info at https://www.analog.com/en/technical-articles/gyro-mechanical-performance.html. You can also search online for gyro temperature hysteresis articles.
Thanks.
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Hello shsu,
For BMI085 information, you could find it from data sheet, https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi088-ds001.pdf
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Hi,
Yes, BMI088 has built-in temperature sensor. The temperature measurement from BMI088 temperature sensor is very close to the environment temperature that may come from the air or other components on the same PCB.
Thanks.
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