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 models which include noise effects, but ignore

Simulation Environments for details. Build 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, gyro 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