Sensor Fusion drift in Roll and Pitch
We did some testing yesterday and experienced drift from our MMCs.
It was in jumping with skis and the in-run is rough and there are a lot of mini vibrations.
It starts well at the beginning, but with higher speeds in the in-run (therefore more vibrations) it starts to drift sooner or later. After the takeoff it stops drifting and a little later after the landing the fusion recovers again. In theory roll and pitch should stay about the same (+/- 2-3°) up to the takeoff.
This or similar behavior was measured on all 10 jumps, but some few single sensors seemed to stay correct.
Data gets logged; euler angle and linear accel
MMC: 0.1&0.2, 1.5.0, MN 6
Host is Metahub
Fusion Model was IMU_PLUS and sensors with 16g and 2000dps
In the attached files, the shown sequence starts @09:56:14
In the forum I found this in an older thread, which seems similar to me:
My questions are now:
Would you agree that vibrations is the cause of this drift?
If yes: Is there a way to improve my recordings with metahub settings which I could adjust?
In this other thread there is a discussion about a filter mode (1/2 & 1/4) for the BMI160 directly after accel and gyro and before Fusion. e.g.
gyroBMI160.filterMode = .OSR4
Is this something that would maybe help me here too, or do a test with it. And is it usable without writing a complete custom app?
Thanks in advance