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Freescale

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

Freescale Semiconductor, Inc.

4.8.7 6-axis Accelerometer + Gyro Parametrics........................................................................................ 27

4.8.8 3-axis Accelerometer Only Parametrics ........................................................................................... 28

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Test Descriptions......................................................................................................................... 28

5.1 MCU Current .......................................................................................................................... 28

5.1.1 Intent ................................................................................................................................................. 28

5.1.2 Procedure ......................................................................................................................................... 28

5.2 Flash and RAM Required........................................................................................................ 29

5.2.1 Intent ................................................................................................................................................. 29

5.2.2 Procedure ......................................................................................................................................... 29

5.3 Fusion Loop Execution Time................................................................................................... 29

5.4 Compass Heading Linearity and Accuracy.............................................................................. 29

5.4.1 Intent ................................................................................................................................................. 29

5.4.2 Procedure ......................................................................................................................................... 30

5.5 Orientation Static Drift............................................................................................................. 31

5.5.1 Intent ................................................................................................................................................. 31

5.5.2 Procedure ......................................................................................................................................... 31

5.6 Orientation Static Noise .......................................................................................................... 32

5.6.1 Intent ................................................................................................................................................. 32

5.6.2 Procedure ......................................................................................................................................... 32

5.7 Orientation Dynamic Drift........................................................................................................ 32

5.7.1 Intent ................................................................................................................................................. 32

5.7.2 Procedure ......................................................................................................................................... 32

5.8 Maximum Angular Rate .......................................................................................................... 32

5.8.1 Intent ................................................................................................................................................. 32

5.8.2 Procedure ......................................................................................................................................... 32

5.9 Orientation Response Delay ................................................................................................... 33

5.9.1 Waveform Definitions........................................................................................................................ 33

5.9.2 Intent ................................................................................................................................................. 33

5.9.3 Procedure ......................................................................................................................................... 33

5.10 Orientation Magnetic Immunity (Static Device)........................................................................ 34

5.10.1 Intent ................................................................................................................................................. 34

5.10.2 Procedure ......................................................................................................................................... 34

5.11 Orientation Magnetic Immunity (Moving Device) ..................................................................... 34

5.11.1 Intent ................................................................................................................................................. 34

5.11.2 Procedure ......................................................................................................................................... 34

5.12 Error in Computed Gyro Bias .................................................................................................. 34

5.12.1 Intent ................................................................................................................................................. 34

5.12.2 Procedure ......................................................................................................................................... 34

5.13 Gyro Offset Step Response .................................................................................................... 35

5.13.1 Intent ................................................................................................................................................. 35

5.13.2 Procedure ......................................................................................................................................... 35

5.14 Error in Computed Linear Acceleration ................................................................................... 35

5.14.1 Intent ................................................................................................................................................. 35

5.14.2 Procedure ......................................................................................................................................... 35

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Revision history for XSFLK_DS .................................................................................................. 36