Unable to get acceleration in world reference frame

[jackflips]

I'm trying to obtain acceleration from my IMU in the world reference frame. The approach I'm trying is to take the quaternion from getQuat(), get its conjugate, then multiply it by the acceleration vector. My code is here: https://pastebin.com/rYEc3R8c

My expectation is that when I rotate my IMU, the rotated acceleration stays constant because it is measuring gravity in the world reference frame. But that is not what happens. Instead, the 'rotated' acceleration changes as the IMU rotates. Logs are here: https://pastebin.com/n6DdXgrj

Why is this happening? Could it be that the rotation quaternion isn't accurate?

[aster94]

Sorry, I don't know

Il mar 19 lug 2022, 02:14 Jack Rogers @.***> ha scritto:

I'm trying to obtain acceleration from my IMU in the world reference frame. The approach I'm trying is to take the quaternion from getQuat(), get its conjugate, then multiply it by the acceleration vector.

My expectation is that when I rotate my IMU, the rotated acceleration stays constant because it is measuring gravity in the world reference frame. But that is not what happens. Instead, the 'rotated' acceleration changes as the IMU rotates. Logs are here: https://pastebin.com/n6DdXgrj

Why is this happening? Could it be that the rotation quaternion isn't accurate?

— Reply to this email directly, view it on GitHub https://github.com/aster94/SensorFusion/issues/11, or unsubscribe https://github.com/notifications/unsubscribe-auth/AFBUBTXGSO4ZM3RXBNXMYVLVUXXM7ANCNFSM536EOESA . You are receiving this because you are subscribed to this thread.Message ID: @.***>