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About hfozturk
since
02-20-2023
03-22-2023
hfozturk
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03-20-2023
02:33 PM
Hi BSTRobin, Turns out problem was due to axis mismatch between sensors. I fixed it by implementing the necessary rotations to measurements as you have shared in your answer, benefiting BHI260AP Datasheet, sections 13.3.2.6 - 13.3.2.7 - 20.3. Thank you for your support during the process.
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03-10-2023
03:29 PM
After trying all rotation vector types (RV, GAMERV and GEORV), I have observed that problem is caused by magnetometer measurements. I plotted the 3D measurements of magnetometer coming from different virtual sensors and was expecting a sphere centered at the origin, but this was not the case. Following are the plots of magnetometer measurements after rotating the module around its axes: Virtual Sensor: Magnetometer corrected Virtual Sensor: Magnetometer corrected wake-up Virtual Sensor: Magnetometer uncalibrated Virtual Sensor: Magnetometer uncalibrated wake-up Virtual Sensor: Magnetometer passthrough In every case, I tried to rotate the module the same as far as I could. As you can see, correction does not seem to work at all and that is why when I use those Virtual Sensors, rotation exhibits illogical behaviour. I would be very happy if you could: 1) Show me what can I do to fix "corrected" measurements 2) Tell me if there is a way and how to make the algorithm use magnetometer data supplied by the user while generating quaternions. Thank you.
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03-06-2023
12:04 PM
Hello and thank you for your reply, Benefiting from the example code you have shared, I have printed the accuracy for the virtual sensors. I have observed that calibration status of sensors reach 3 as I rotate the module. At this step I wonder the following: •Is there a special calibration process, i.e. a predefined series of movements to calibrate sensors? •Which virtual sensor is best for my application, where I try to get orientation in terms of quaternions? •There is an adaptive calibration algorithm running inside. Is there a way to make this calibration more responsive, i.e. converge to a calibration state faster?
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02-20-2023
07:22 AM
Hello, What I Did I am using BHI260AP & BMM150 together with nRF52840. I upload Bosch_APP30_SHUTTLE_BHI_aux_BMM150.fw.h and the am using the API on GitHub (SHA 5b26dc4802f500f75e1086c2a156e3ecf800560c → Last Commit Before v1.4.1). 1) After I upload the firmware I register the fifo callbacks: 2) Then set the virtual sensor configuration: For the values: • sample_rate = 20 Hz • report_latency_ms = 0 3) To get the measurements and activate callbacks, I call the bhy2_get_and_process_fifo function with a uint8_t array of size 2048 as argument. This call occurs with a frequency of 20Hz. My Problem I do not experience a problem on obtaining the correct data at lower rotational speeds or sending it over BLE, but I have 2 problems on the performance of these measurements: 1-When I rotate the sensor around its yaw axis, I observed that ~3 degrees of drift occurs with every full rotation. Measurements do not drift when the module is stationary. 2-I take the measurement at a specific position, then take the module and rotate it arbitrarily. When I place the module again at the same specific position, illogically distant measurements are coming from it. Therefore, my question is that how can I improve the consistency of my measurements. I tried using higher frequencies for both reading the fifo and sensor sample rate. I also tried using "Geo-magnetic rotation vector wake up" sensor, since geo-referenced rotation data would be better for me. However, these do not seem to be working and I could not manage to obtain consistent measurements. Thank you for your time.
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