Datasheet

Freescale Sensor Fusion Library for Kinetis MCUs
Freescale Semiconductor, Inc.
NOTE:
Results that follow are simulated
nonlinearity and other factors. See
Simulation Environments
to be improved from the 4.17 plots shown here.
4.8.2
Gyro Offset Step Response
Gyro Offset Step Response plots are shown in
Accelerometer+Gyro algorithms, respectively and provide an indication of the responsiveness of the
system to changes in gyro offsets. The simulation artificially introduces a step in the modeled gyro
offset. However, under normal circumstances, gy
change such as this would likely occur are:
• at powerup
•
if the gyro has an autonomous offset cancellation circuit (which Freescale recommends be turned
OFF).
Figure 14.
Gyro
Freescale Sensor Fusion Library for Kinetis MCUs
, Rev. 0.7, 9/2015
Results that follow are simulated
build 4.17 using basic sensor m
odels which include noise effects, but ignore
Simulation Environments
for details. B
uild 5.00 dynamic performance is expected
to be improved from the 4.17 plots shown here.
Gyro Offset Step Response
Gyro Offset Step Response plots are shown in
Figure 14 and Figure 15 for 9-
axis and
Accelerometer+Gyro algorithms, respectively and provide an indication of the responsiveness of the
system to changes in gyro offsets. The simulation artificially introduces a step in the modeled gyro
offset. However, under normal circumstances, gy
ro offsets change very slowly. The only times that a
change such as this would likely occur are:
if the gyro has an autonomous offset cancellation circuit (which Freescale recommends be turned
Gyro
Offset Step Response for 9-Axis algorithm
odels which include noise effects, but ignore
uild 5.00 dynamic performance is expected
axis and
6- axis
Accelerometer+Gyro algorithms, respectively and provide an indication of the responsiveness of the
system to changes in gyro offsets. The simulation artificially introduces a step in the modeled gyro
ro offsets change very slowly. The only times that a
if the gyro has an autonomous offset cancellation circuit (which Freescale recommends be turned