Dear list

I am using successfully IMU-Bricklets 3.0 mounted on constantly rotating devices. Principally, it works very good. Using the function get_quaternion(), I am calculating the rotations of the bricklet.

But I made the following observation:

• It looks like a delay of the measurement returned from the bricklet and the rotation made by the rotating device.

Question:

• Is it possible to increase the update-rate of the sensor to get timely correct measurements?

I just realized, that the function BrickletIMUV3.set_sensor_configuration(magnetometer_rate, gyroscope_range, gyroscope_bandwidth, accelerometer_range, accelerometer_bandwidth) exists.

The usage of the bricklet is limited to the measurements of the quaternions.

Question:

• Which parameter of the sensor-configuration do I have to improve / to increase?

Looking forward to any hints and advises.

Cheers, Yvo

To get the highest possible update rate for rotation data out of the sensor you will have to set:

• set_sensor_fusion_mode(SENSOR_FUSION_OFF)

• set_sensor_configuration(..., GYROSCOPE_RANGE_1000DPS, ..., GYROSCOPE_BANDWIDTH_523HZ)

• set_angular_velocity_callback_configuration(1, True)

and then use the angular velocity callback and use the low level rotation data.

The fusion algorithm is part of the BNO055 sensor and the calculation speed and time-resolution it has for the quaternions is fixed. We can't increase/improve it.