About lenardxu

In my project, when I test BNO055 Adafruit under stationary state by checking its filtered Imu data under fused mode (NDOF FMC ON), I've found a large offset of linear acceleration. Normally upon my reading from the forum, the acceptable offset would be max. around 0.02m/s^2. However, mine is over 0.1m/^2 in two axes. For that, you can refer to the following Imu data outputting history under 2 Hz on purpose, where "GYR" means the angular rate, "EUL" the euler angle of absolute orientation, "QUA" the quaternion expression of absolute orientation and "LIN" the linear acceleration. And the IMU sensor as said is placed in stationary state where the z axis is parallel to gravity direction. """ GYR x       y         z;         EUL  x                  y               z;              QUA w       x         y          z;       LIN x          y         z GYR 0.00 0.00 -0.02; EUL 283.1250 -0.0625 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.10 -0.04 -0.11 Sensor reading took 0.002623 seconds GYR 0.00 0.00 -0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.04 -0.10 Sensor reading took 0.002211 seconds GYR 0.00 0.00 0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.14 -0.04 -0.14 Sensor reading took 0.002242 seconds GYR 0.00 0.00 0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.15 -0.06 -0.13 Sensor reading took 0.002196 seconds GYR 0.00 -0.00 -0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.05 -0.13 Sensor reading took 0.002232 seconds GYR 0.00 0.00 0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.04 -0.13 Sensor reading took 0.002244 seconds GYR 0.00 0.00 0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.04 -0.14 Sensor reading took 0.002823 seconds GYR 0.00 0.00 -0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.04 -0.13 Sensor reading took 0.002604 seconds GYR 0.00 0.00 0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.03 -0.11 Sensor reading took 0.002238 seconds GYR -0.00 0.00 0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.03 -0.10 Sensor reading took 0.002183 seconds GYR 0.00 0.00 -0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.13 -0.06 -0.13 Sensor reading took 0.002234 seconds GYR 0.00 0.00 -0.00; EUL 283.3750 0.0000 -6.8750; QUA 0.78 -0.05 -0.04 0.62; LIN -0.12 -0.06 -0.12 Sensor reading took 0.004353 seconds """ To provide you with more background infos, here is the current status of Imu sensor corresponding to the given Imu output data above, see the following . """ BN0055 Information at Wed Sep 7 10:52:07 2022 ---------------------------------------------- Chip Version ID = 0xA0 Accelerometer ID = 0xFB Gyroscope ID = 0x0F Magnetoscope ID = 0x32 Software Version = 3.17 Operations Mode = NDOF_FMC Power Mode = NORMAL Axis Configuration = X==X Y==Y Z==Z (ENU) Axis Remap Sign = X+ Y+ Z+ System Status Code = Sensor running with fusion algorithm System Clocksource = Internal Clock (default) Accelerometer Test = OK Magnetometer Test = OK Gyroscope Test = OK MCU Cortex M0 Test = OK System Error Code = No Error Acceleration Unit = m/s2 Gyroscope Unit = rps Euler Unit = Degrees Temperature Unit = Celsius Orientation Mode = Windows Sensor Temperature = 33°C ---------------------------------------------- Accelerometer Power = NORMAL Accelerometer Bwidth = 62.5Hz Accelerometer GRange = 4G Accelerometer Sleep = event-driven, 0.5ms ---------------------------------------------- Sensor System Calibration = Fully calibrated Gyroscope Calibration = Fully calibrated Accelerometer Calibration = Fully calibrated Magnetometer Calibration = Fully calibrated """ Could anyone offer any pointer and help me figure out the problem? Many thanks in advance! ... View more