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

Freescale Semiconductor, Inc.

4. Note computed/actual for final value

5. Note response time

5.13 Gyro Offset Step Response

5.13.1

Intent

Measure how well the fusion library tracks varying gyro offset.

5.13.2

Procedure

Setup as defined in Matlab Stimulus/Expected Response + Hardware-based Fusion. Matlab is used to

post-process data.

1. Starting point = DUT is stationary and fusion outputs are stable.

2. Add offset of 10 dps to gyro X read data.

3. Run test until computed gyro offset stabilizes.

4. Plot the gyro read data step function and the response fusion algorithm estimated offset. Record

response time as time between 50% step change in gyro X read data and 50% change in fusion

algorithm estimated gyro X offset.

5.14 Error in Computed Linear Acceleration

5.14.1

Intent

Measure how well the fusion library tracks linear acceleration.

5.14.2

Procedure

Setup as defined in Matlab Stimulus/Expected Response + Hardware-based Fusion. Matlab is used to

post-process data.

1. Starting point = DUT is stationary and fusion outputs are stable.

2. Subject DUT to acceleration A*sin(2*pi*f*t), where: A = 2 g, f = 1 Hz, t = zero to one second

(1 period), pi = 3.141592654

3. Plot the ideal DUT acceleration and fusion algorithm computed acceleration. Determine the

maximum error between the two accelerations.