Euler angles problem about fusion

[xioTechnologies]

In your plot, the angular velocities measured by the gyroscope are in the opposite direction to the changes in inclination indicated by the accelerometer. It is not clear if you have negated gyroscope measurements, or if the gyroscope axes are misaligned to the accelerometer.

The following two plots below were generated using your data. The first plot uses negated gyroscope measurements. The second plot adjusts the gyroscope alignment. Note that the algorithm determines a lower acceleration error in the second plot. This suggests that the issue is misalignment and not negation.

The gyroscope alignment was adjusted in the second plot using the following line of code, inserted immediately before line 53 in gait_tracking.py. Similar results are achieved using NXNYPZ, PZNYPX, and NZNYNX. You will have to review your design to determine what the actual misalignment is.

gyroscope[index] = imufusion.axes_swap(gyroscope[index], imufusion.ALIGNMENT_PXNYNZ)

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[machurapiotrek]

Thank you for the fast response! I can see clearly now that I need to study the basics of this subject.