Sudden jumps in Sensor fusion
We're experiencing sudden jumps in the sensor fusion's quaternion output on Mbient sensors. It works as expected for 10-20-30 seconds or more, without any drift, then suddenly, in the course of a second, the sensor's output rotates sometimes 20°, sometimes 40°, sometimes 90° around the vertical axis (parallel with gravity). Then it stays like that for a while, and moves with sensor movement.
We use sensor fusion in NDoF mode, accelerometer's range is 16g, gyroscope range is 2000°/s. The movements that we test with are slower than 500°/s, just holding the sensor in hand and moving it around. The sudden jump usually happened for us when the sensor didn't move at all, but has been stationary for more than 5 seconds.
We've done successful calibration and stored the calibration data on the sensor in an execOnBoot macro.