© 2015 Freescale Semiconductor, Inc.

1

Introduction................................

2

Functional Overview ................................

2.1 Introduction................................

2.2 Accelerometer Only ................................

2.3 Accelerometer Plus Magnetometer

2.4 Accelerometer Plus Gyroscope

2.5 Accelerometer Plus Magnetometer Plus Gyroscope

3

Additional Support................................

3.1 Freescale Sensor Fusion Toolbox for Android

3.2 Freescale Sensor Fusion Toolbox for Windows

3.3 Terms and Acronyms................................

3.4 References ................................

4

Mechanical and Electrical Specifications

4.1 General Considerations ................................

4.2 Hardware Platforms Used to Measure Performance

4.3 Simulation Environments ................................

4.4 Frame of Reference................................

4.5 Electrical Specifications ................................

4.6 Computation Metrics ................................

4.6.1 Statistics from Build #5.00 of the Sensor Fusion Library

4.7 Magnetic Calibration Metrics

4.7.1 Background................................

4.7.2 The Magnetic Buffer................................

4.7.3 Magnetic Calibration Performance Metrics

4.8 Fusion Model Performance Metrics

4.8.1 Background................................

4.8.2 Gyro Offset Step Response

4.8.3 Error in Computed Linear Acceleration

4.8.4 Limitations Imposed via Sensor Choice/Configuration

4.8.5 9-Axis Parametrics................................

4.8.6 6-axis Accelerometer + Magnetometer Parametrics

Freescale Semiconductor

DATA SHEET: PRODUCT PREVIEW

Freescale Sensor Fusion

Updated for Freescale Sensor Fusion Release 5.00

Contents

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Accelerometer Plus Magnetometer ................................................................

Accelerometer Plus Gyroscope................................................................................................

Accelerometer Plus Magnetometer Plus Gyroscope ................................................................

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Freescale Sensor Fusion Toolbox for Android ................................................................

Freescale Sensor Fusion Toolbox for Windows ................................................................

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Mechanical and Electrical Specifications................................................................

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Hardware Platforms Used to Measure Performance ...............................................................

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Statistics from Build #5.00 of the Sensor Fusion Library................................................................

Magnetic Calibration Metrics................................................................................................

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Magnetic Calibration Performance Metrics................................................................

Fusion Model Performance Metrics................................................................

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Gyro Offset Step Response................................................................................................

Error in Computed Linear Acceleration................................................................

Limitations Imposed via Sensor Choice/Configuration ................................................................

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axis Accelerometer + Magnetometer Parametrics ................................................................

Document Number:

DATA SHEET: PRODUCT PREVIEW

Freescale Sensor Fusion Library for Kinetis

Sensor Fusion Release 5.00

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Document Number: FSFLK_DS

Rev. 0.7, 9/2015

Library for Kinetis MCUs