Datasheet

2 Freescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
4.8.7 6-axis Accelerometer + Gyro Parametrics ........................................................................................ 27
4.8.8 3-axis Accelerometer Only Parametrics ........................................................................................... 28
5 Test Descriptions ......................................................................................................................... 28
5.1 MCU Current .......................................................................................................................... 28
5.1.1 Intent ................................................................................................................................................. 28
5.1.2 Procedure ......................................................................................................................................... 28
5.2 Flash and RAM Required ........................................................................................................ 29
5.2.1 Intent ................................................................................................................................................. 29
5.2.2 Procedure ......................................................................................................................................... 29
5.3 Fusion Loop Execution Time................................................................................................... 29
5.4 Compass Heading Linearity and Accuracy .............................................................................. 29
5.4.1 Intent ................................................................................................................................................. 29
5.4.2 Procedure ......................................................................................................................................... 30
5.5 Orientation Static Drift ............................................................................................................. 31
5.5.1 Intent ................................................................................................................................................. 31
5.5.2 Procedure ......................................................................................................................................... 31
5.6 Orientation Static Noise .......................................................................................................... 32
5.6.1 Intent ................................................................................................................................................. 32
5.6.2 Procedure ......................................................................................................................................... 32
5.7 Orientation Dynamic Drift ........................................................................................................ 32
5.7.1 Intent ................................................................................................................................................. 32
5.7.2 Procedure ......................................................................................................................................... 32
5.8 Maximum Angular Rate .......................................................................................................... 32
5.8.1 Intent ................................................................................................................................................. 32
5.8.2 Procedure ......................................................................................................................................... 32
5.9 Orientation Response Delay ................................................................................................... 33
5.9.1 Waveform Definitions ........................................................................................................................ 33
5.9.2 Intent ................................................................................................................................................. 33
5.9.3 Procedure ......................................................................................................................................... 33
5.10 Orientation Magnetic Immunity (Static Device)........................................................................ 34
5.10.1 Intent ................................................................................................................................................. 34
5.10.2 Procedure ......................................................................................................................................... 34
5.11 Orientation Magnetic Immunity (Moving Device) ..................................................................... 34
5.11.1 Intent ................................................................................................................................................. 34
5.11.2 Procedure ......................................................................................................................................... 34
5.12 Error in Computed Gyro Bias .................................................................................................. 34
5.12.1 Intent ................................................................................................................................................. 34
5.12.2 Procedure ......................................................................................................................................... 34
5.13 Gyro Offset Step Response .................................................................................................... 35
5.13.1 Intent ................................................................................................................................................. 35
5.13.2 Procedure ......................................................................................................................................... 35
5.14 Error in Computed Linear Acceleration ................................................................................... 35
5.14.1 Intent ................................................................................................................................................. 35
5.14.2 Procedure ......................................................................................................................................... 35
6 Revision history for XSFLK_DS .................................................................................................. 36