How are you gettting the hardware quaternions?
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Hello @kriswiner ,
I am newbie on the rotation topic using quaternions, I have been reading abot then and the different ways of representing rotation changes, so sorry in advance if my questions might be quite simple.
I have been looking your code for the BMI160, device that I am using, and there is a point where obtaining the quaternions that I get a bit lost.
I see that you have defined to set of quaternions, hardware quaternions Quat[4]
and software quaternions q[4]
. Could you explain me how you are obtaining the hardware quaternions? I am especially interested in q0 (Quat[0]
), is this value given only by EM7180 sensor or it can be retreived as well from BMI160?
And finally the software quaternions q[4]
are coming from the application of the MadgwickQuaternionUpdate()
method?
Thanks in advance!
Thanks for replying,
Then that means that BMI160 doesn't provide the value q0 from hardware and if I use this sensor I would have to make use of just the software base right?
One more question regarding to q0, I have seen other repo of yours for the MPU9250, this sensor also provides the q0 as far as I understood from your code, but I could not find any explicit register in the register map of the MPU9250 that holds q0. Could you kindly point me out where or what I should look to find that register?
Thank you very much,
REgards!