Hi Team, l am back and still trying to get a better roll compensated Yaw heading using your V3 IMU , as using your AHRS l was getting a ±10-15 degree yaw error to my heading when tilting left/right.
I have found Mike Barkers, Pololu Open IMU code (which is exactly what l was after in a previous post, how to put Merlins correction data into a AHRS which in testing without user defined calibration or with it after defining the offsets by using Merlins Magneto correction, has massive drift.
The tilt compensation is as good as could be hoped for -+2 degrees, but after starting it just drifts in the Roll, Pitch and Yaw.
Am l correct in my assumption that this code is suitable for V3
As you can see in the code, l have tried to alter full scales (more than likely incorrectly) and played with scaling without luck.
The BNO055 that l had hi hopes for was great in a static test, but in a dynamic test it has issue with velocity and drifts badly. Adafruit/Bosch don’t seem to want to know about it, as can be seen in this forum
Thanks for any help
Pololu_open_IMUkdaltered.ino (21.4 KB)