FreeIMU

Initial data seems to be inaccurate, until it has time to settle ?

Asked by Jon Russell

Hi. Great library ! I'm using it with a SparkFun 9DoF sensor stick. However, I seem to get erroneous data from the library for the first few seconds (about 30-60 seconds) after which the data settles towards the correct values. I’m using getYawPitchRoll ? Is this expected ? Is there anything I can do to tell if the IMU has settled on the correct values ? Or do I need to ignore them for the first X seconds ? Once its settled, the data is perfect.

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Fabio Varesano (fabio-varesano) said : 		#1

Yeah.. that's the expected behavior.. the sensor fusion algorithm needs some time to align the orientation of the magnetometer with those computed by integrating the gyroscope.

There may be ways around that, I personally never dig much into that, ... however you'll need knowledge of maths and programming.

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