Anomalous MMRL Quaternions
Device MMRL Firmware 1.7.3
We have our MMRL devices configured to output Quaternions.
The mode is NDOF
Sensor fusion ACC range is set to 16G
Gyro range is set to 2000DPS
Calibration state is reported as 3 for Acc, gyro and magnetometer
Occasionally we receive quaternions where axes flip polarity.
Any ideas as to the cause / remedy?
The examples below were captured using the Java API on an Android device but this has been observed using the Python API running on a pc as well.