Datasheet

Introduction
4 F
reescale Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015
Freescale Semiconductor, Inc.
Table 1. Feature Comparison of the Freescale Sensor
Fusion Algorithm Options
Feature Accel only Mag only Gyro Only Accel + gyro A
ccel + mag Accel + mag + gyro
Filter type Low pass Low pass N/A Indirect Kalman Low pass
1
Indirect Kalman
Roll / Pitch / Tilt in degrees Yes No Yes Yes Yes Yes
Yaw in degrees No Yes Yes No Yes Yes
Angular rate
2
in degrees/second virtual 2 axis
3
Yaw only Yes Yes virtual 3 axis Yes
Compass heading (magnetic north) in
degrees
No Yes No No Yes Yes
Quarternion and rotation vector Yes Yaw only Yes
5
Yes Yes Yes
Rotation matrix Yes Yaw only Yes
5
Yes Yes Yes
Linear acceleration separate from gravity No No No Yes No Yes
NED (North-East-Down) frame of reference Yes
4
Yes Yes
4
Yes
4
Yes Yes
ENU (Windows 8 variant) frame of reference Yes
4
Yes Yes
4
Yes
4
Yes Yes
ENU (Android variant) frame of reference Yes
4
Yes Yes
4
Yes
4
Yes Yes
Magnetic calibration included N/A Yes N/A N/A Yes Yes
Gyro offset calibration included N/A N/A No Yes N/A Yes
FRDM-KL25Z board support Yes Yes Yes Yes Yes Yes
FRDM-KL46Z board support Yes Yes Yes Yes Yes Yes
FRDM-K20D50M board support Yes Yes Yes Yes Yes Yes
FRDM-KL26Z board support Yes Yes Yes Yes Yes Yes
FRDM-K64F board support Yes Yes Yes Yes Yes Yes
FRDM-K22F board support KDS only
1. More precisely: a non-linear modified exponential low pass quaternion SLERP filter.
2. Angular rate for 6 and 9-axis configurations with a gyro include corrections for gyro offset.
3. Subject to well-known limitation of being blind to rotation about axes aligned with gravity.
4. These solutions do not include a magnetometer, therefore there is no sense of compass heading.
5. Rotations for gyro-only solution are relative to sensor position (there is no global frame).