Hi, I am writing in this forum for the first time. I am using a BNO055 fixed at the thigh to record the orientation of the leg during a gait. In order to do it, I plotted the yaw output. There is weird behavior based on the inversion walk. Imagine being in a room doing a walk forward, then rotate yourself and you come back. During the inversion, the coordinate system of the start is changed from 0 to 360 because the base coordinate system for navigation is fixed to the Earth. In the black section, the sensor is just calibrated totally. Then it is worn at the level of the thigh more or less and I start to walk. The red indicates the walk in a direction and the green in the opposite one (where each wave indicates a step). All of them of course include the inversion of gait at the end of each color. I need to put some thresholds to let the sensor recognize in real-time the maximum and minimum of each wave. How can I do it? Furthermore, I am not able to interpret the graph of the quaternion. Tips or github link are super appreciated. Thank you so much.
... View more