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SW4STM32 and SW4Linux fully supports the STM32MP1 asymmetric multicore Cortex/A7+M4 MPUs

   With System Workbench for Linux, Embedded Linux on the STM32MP1 family of MPUs from ST was never as simple to build and maintain, even for newcomers in the Linux world. And, if you install System Workbench for Linux in System Workbench for STM32 you can seamlessly develop and debug asymmetric applications running partly on Linux, partly on the Cortex-M4.
You can get more information from the ac6-tools website and download (registration required) various documents highlighting:

System Workbench for STM32


Problems mems sensor fusion

Hello,

I use the demo FP-SNS-ALLMEMS1 firmware. For my application, I need to use the sensor fusion 6 axes (accelerometer + gyroscope) so I choose as a result the quaternion 6 axes.
The data returns by the sensor are weird: when I rotate physically the sensor to 90 degrees, i measure a rotation about 50-60 degrees! eek
Moreover, the sensor never finds its reference position.

The sensor fusion is from the MotionFX library. It implements a sensor fusion algorithm for estimation of 3D orientation in space. Based on Kalman theory to fuse data, there is two function:

  • MotionFX_propagate: estimate the orientation in 3D space. The gyroscope is given more weight in this phase.
  • MotionFX_update: adjusts the predicted value when necessary. In this phase, the accelerometer is given more weight.


In the program I only change the choice of the result of the quaternion 9 axes to 6 axes and activate the fusion for the 6 axes.
MotionFX_manager_start_6X();
MotionFX_Engine_Out->quaternion_6X

How can I fix it?