Weird wrong orientation obtained about fusion

[xioTechnologies]

I suggest the first step is to solving this is to use the x-IMU3 GUI to display the 3D orientation and sensor data side-by-side, in real-time. You will need to modify your firmware to send the following packets by serial. See page 23 of the x-IMU3 user manual for more information about these packets.

• I,1000000,0.0000,0.0000,0.0000,0.0000,0.0000,1.0000\r\n (gyroscope and accelerometer)
• M,1000000,1.0000,0.0000,0.0000\r\n (magnetometer)
• Q,1000000,1.0000,0.0000,0.0000,0.0000\r\n (quaternion)

If your firmware is sending these packets then you can manually open a serial connection to view data in real-time as shown in the screenshot below.

[aidengk-iris]

@xioTechnologies
Thank you very much for the suggestion. The GUI made locating the issue a lot easier!

The issue turns out to be a wrong value in the accelerometer's offset. I put 1.03g instead of 0.03g in the z axis offset.

Of course, as the offset is subtracted from the acceleration readings, the gravity reference is very shaky.

I do have another question that is not closely related to this issue, so I will discuss it in a new post.