Rotation of global acceleration about fusion

[xioTechnologies]

I suspect that the issue is poor magnetometer calibration. I suggest you use ahrs.update_no_magnetometer instead of ahrs.update so that the magnetometer is ignored. If you are using the algorithm without the magnetometer then you can use the ahrs.heading = 0 to zero the yaw at any time.

[viatto]

it is not working the function ahrs.update_no_magnetometer

[xioTechnologies]

Please provide a description of the issue

[viatto]

ahrs.update_no_magnetometer(g1, a1, deltat) If I try to substitute in the code this function instead of the classic one 'ahrs.update'. The only result I have in acceleration function ahrs.earth_acceleration is a vector of 0 , 0, 1

[xioTechnologies]

The code and plot below does not demonstrate the issue you have reported. I believe the problem is with either your data or your use of the library. I suggest you start from a working example and make small iterative changes towards your intended design.

import imufusion
import matplotlib.pyplot as pyplot
import numpy

data = numpy.genfromtxt("sensor_data.csv", delimiter=",", skip_header=1)

gyroscope = data[:, 1:4]
accelerometer = data[:, 4:7]

ahrs = imufusion.Ahrs()
earth_acceleration = numpy.empty_like(gyroscope)

for index in range(len(gyroscope)):
    ahrs.update_no_magnetometer(gyroscope[index], accelerometer[index], 1 / 100)
    earth_acceleration[index] = ahrs.earth_acceleration

pyplot.plot(earth_acceleration)
pyplot.show()