Datasheet

Freescale Sensor Fusion Library for Kinetis MCUs
Freescale Semiconductor, Inc.
5.9
Orientation Response Delay
5.9.1
Waveform Definitions
90° Input Change in Orientation
The 90° input orientation change waveform is defined as:
• From any starting orientation
• Through the center of mass
of the accelerometer
•
A change in one of roll, pitch or yaw (global frame)
• Orientation change = ±90°
•
Orientation change is linear in time
•
Transition period = 1.0 seconds
•
Propagation delays are measured from the 1/2 point (±45°)
Output Orientation Changes
When measuring changes in orientation, there are many ways to get from orientation A to orientation B.
It is assumed that output orientation changes should track input orientation changes. The Fusion
Library will inherently output those values. However, to
propagation delays, the 50% point in computed orientations changes is defined as shown in
Figure 21.
Propagation delays are measured at the plane that bi
5.9.2 Intent
Orientation response delay is measured from change in physical orientation to the related change in
fusion orientation output.
5.9.3 Procedure
Using 90° input orientation change as defined in
measured from the 50% point on the input wav
defined in
Output Orientation Changes
Freescale Sensor Fusion Library for Kinetis MCUs
, Rev. 0.7, 9/2015
Orientation Response Delay
Waveform Definitions
The 90° input orientation change waveform is defined as:
of the accelerometer
A change in one of roll, pitch or yaw (global frame)
Orientation change is linear in time
Transition period = 1.0 seconds
Propagation delays are measured from the 1/2 point (±45°)
When measuring changes in orientation, there are many ways to get from orientation A to orientation B.
It is assumed that output orientation changes should track input orientation changes. The Fusion
Library will inherently output those values. However, to
avoid any ambiguity when measuring
propagation delays, the 50% point in computed orientations changes is defined as shown in
Propagation delays are measured at the plane that bi
sects and is perpendicular to SLERP
Orientation response delay is measured from change in physical orientation to the related change in
Using 90° input orientation change as defined in
90° Input Change in Orientation
, the response delay is
measured from the 50% point on the input wav
eform to the 50% point of the output waveform as
Output Orientation Changes
.
When measuring changes in orientation, there are many ways to get from orientation A to orientation B.
It is assumed that output orientation changes should track input orientation changes. The Fusion
avoid any ambiguity when measuring
propagation delays, the 50% point in computed orientations changes is defined as shown in
Figure 21.
sects and is perpendicular to SLERP
A–B
Orientation response delay is measured from change in physical orientation to the related change in
, the response delay is
eform to the 50% point of the output waveform as