Data Sheet

Sensor Fusion

Sensor output then continues to ‘Sensor fusion’, an internal algorithm used to combine sensor data to provide stable output.

Inside the ‘Sensor fusion’ block, there are:

• 'GyroErrFilter': a functionality that compensates for gyroscope error during run time.

• Two parameters (knobs) which allow you to increase the contribution of Accelerometer and Magnetometer to the

output of the algorithm in terms of allowing you to customize the behavior based on your application.

We can reset both parameters to their respective optimal values for a particular user scenario by clicking the 'Use

Default Setting' button (please also see section 'Step 1 – Restore Default Setting' on page 10).

Generally, larger values indicate that the sensor fusion algorithm should trust more on either accelerometer or

magnetometer, or both. When 'GyroErrFilter' is turned on, it is strongly recommended to have the gain of

accelerometer no less than 2.0. For applications with strong and continuous vibration, the gain of accelerometer

should be at lest 2.5.

Please note that for TM100 series, the Gain setting for Accelerometer is not available.

• Also, you get to control ‘Self-Adapt filter’, a functionality which compensates for disturbances in magnetic field to

provide stable magnetic heading information.

Output Data Types

After the data has been processed, you’re free to select your preferred output format. The next portion of data path allows you

to output (and visualize where possible) orientation data with reference to ‘World frame’ (with respect to the Earth’s magnetic

field and Gravity direction). The output from Initial Sensor Frame is not available.

Figure 26: Configuring output of the module

Figure 25: Data path (Partial, Sensor Fusion)

Please note that for TM100 series, the Gain setting for Accelerometer is not available