Datasheet

Mechanical and Electrical Specifications
18 Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
4.4 Frame of Reference
Table summarizes differences between the standard frames of reference supported by the fusion
library.
Table 7. Frame of Reference Variations
NED Android Windows 8
Axes alignment
NED ENU ENU
Angle rotation order
Yaw then pitch then roll Yaw then roll then pitch Yaw then pitch then roll
Gimbal lock
Roll instability (x axis) at ±90
deg pitch (y axis)
Pitch instability (x axis) at ±90
deg roll (y axis)
Roll instability (y axis) at ±90
deg pitch (x axis)
Roll range
Clockwise
–180 to 180 deg
Anti-clockwise
–90 to 90 deg
Clockwise
–90 to 90 deg
Pitch range
–90 to 90 deg –180 to 180 deg –180 to 180 deg
Yaw range
0 to 360 0 to 360 0 to 360
Compass heading
Yaw Yaw –Yaw
1. A clockwise rotation is defined as one that is positive in the Right-Hand-Rule (RHR) sense.
4.5 Electrical Specifications
The parameters in each table are measured using the configurations defined in Hardware Platforms
Used to Measure Performance. The MCU currents are estimated using the process defined in MCU
Current.
Tables 8 and 9 were developed using the build #5.00 of the Sensor Fusion Library.
Table 8. Typical I
DD
for FRDM-KL26Z only
Function Fusion I
dd
@ 25Hz rate (mA) Fusion I
dd
/ Hz (mA)
Accel only 0.25 0.01
2D Mag 0.19 0.01
Gyro only 0.74 0.03
Accel + Mag, eCompass 0.31 0.01
Accel + Gyro 0.92 0.04
9-axis 3.20 0.13
subtotal 5.61 0.22
estimated RTOS/other 2.79 0.44
Table 9. 9-Axis I
DD
as a Function of Board and Development Tool
Function Fusion I
dd
@ 25Hz rate (mA)
Compiled with CodeWarrior
Fusion I
dd
/ Hz (mA)
Compiled with KDS
FRDM-K64F 0.40 0.51
FRDM-K22F N/A 0.41
FRDM-K20D50M 3.53 4.11
FRDM-KL46Z 3.70 4.16
FRDM-KL26Z 3.20 3.76
FRDM-KL25 2.47 2.93