Hello,
I'm using the ICM-20948 on my board via SPI and the eMD v1.0 for nucleao board (that I use on a pic32mz).
I can get both 6 and 9 axis dmp data without problem.
Yet, it takes a lot of time after startup for the data to be relevant.
Actually, every time I start the IMU, I first get an identity quaternion (1 0 0 0) not taking into account the orientation of my board. But then, it takes 10 to 20 seconds for the quaternion values to reach the actual orientation of the board. It looks like there is some kind of filtering that is done on the DMP that makes the values totally wrong at startup.
Has someone noticed that behavior ? How can I solve that issue ?
For information, I have the problem both with 6 and 9 axis fusion. I've also tried to set the bias of the magnetometer, gyroscope, and accelerometer. I've also verified that all kind of possible filtering (gyro, accel) was disabled.
I know it is very rare to have answers on this forum .. but please, some help would be very appreciated !!!