FSFLK-DS datasheet(18/37 Pages) FREESCALE

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Mechanical and Electrical Specifications

Freescale

Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015

Freescale Semiconductor, Inc.

4.4 Frame of Reference

Table summarizes differences between the standard frames of reference supported by the fusion

library.

Table 7. Frame of Reference Variations

NED

Android

Windows 8

Axes alignment

NED

ENU

Angle rotation order

Yaw then pitch then roll

Yaw then roll then pitch

Yaw then pitch then roll

Gimbal lock

Roll instability (x axis) at ±90

deg pitch (y axis)

Pitch instability (x axis) at ±90

deg roll (y axis)

Roll instability (y axis) at ±90

deg pitch (x axis)

Roll range

Clockwise

–180 to 180 deg

Anti-clockwise

–90 to 90 deg

Clockwise

–90 to 90 deg

Pitch range

–90 to 90 deg

–180 to 180 deg

Yaw range

0 to 360

Compass heading

Yaw

–Yaw

A clockwise rotation is defined as one that is positive in the Right-Hand-Rule (RHR) sense.

4.5 Electrical Specifications

The parameters in each table are measured using the configurations defined in Hardware Platforms

Used to Measure Performance. The MCU currents are estimated using the process defined in MCU

Current.

Tables 8 and 9 were developed using the build #5.00 of the Sensor Fusion Library.

Table 8. Typical IDD for FRDM-KL26Z only

Function

Fusion Idd @ 25Hz rate (mA)

Fusion Idd / Hz (mA)

Accel only

0.25

0.01

2D Mag

0.19

0.01

Gyro only

0.74

0.03

Accel + Mag, eCompass

0.31

0.01

Accel + Gyro

0.92

0.04

9-axis

3.20

0.13

subtotal

5.61

0.22

estimated RTOS/other

2.79

0.44

Table 9. 9-Axis IDD as a Function of Board and Development Tool

Function

Fusion Idd @ 25Hz rate (mA)

Compiled with CodeWarrior

Fusion Idd / Hz (mA)

Compiled with KDS

FRDM-K64F

0.40

0.51

FRDM-K22F

N/A

0.41

FRDM-K20D50M

3.53

4.11

FRDM-KL46Z

3.70

4.16

FRDM-KL26Z

3.20

3.76

FRDM-KL25

2.47

2.93

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