Slowly getting to the correct orientation about fusion

[xioTechnologies]

You have shown that the 3D model initially only rotates half the expected angle. This will be due to an incorrect gyroscope sensitivity or deltaTime value. Perhaps your deltaTime value is half what it should be.

I suggest that you start with a simple implementation and gradually increase complexity. I suggest that you implement each of the following systems and only progress to the next once the current system is working without issue.

1. Gyroscope and accelerometer only. Acceleration rejection disabled.
2. Gyroscope and accelerometer only. Acceleration rejection enabled.
3. Gyroscope, accelerometer, and magnetometer. Acceleration rejection enabled. Magnetic rejection disabled.
4. Gyroscope, accelerometer, and magnetometer. Acceleration rejection enabled. Magnetic rejection enabled.

[aidengk-iris]

@xioTechnologies
Many thanks to your suggestions! I am testing indivisual systems as you suggested.
Already in the gyro and accelerometer only case (no acc rejection), I can see you are right that there is something wrong with the gyro's sensitivity.
Setting the gyro's sensitivity vector to 2s resulted correct and very stable orientation estimation. But this is a test fix just for debugging, I will double check the sensor's driver library for errors.

Thanks again. I will close the issue.