Figure 34. Sensor Fusion App - Enabling Magnetometer Calibration - ST STEVAL-MKSBOX1V1 User Manual

The Sensor Fusion Motion FX library provides orientation estimation, magnetometer hard-iron offset
compensation, accelerometer vibration rejection and gyroscope bias compensation.
The app works with the following ST high accuracy acceleration sensor and magnetometer, and operating
parameter settings:
• APP DATA INPUT: accelerometer, gyroscope and magnetometer values
• SENSORS USED:
– LSM6DSOX
– LIS2MDL
• SENSOR SETTINGS:
LSM6DSOX
– Low power mode
– Output data rate: 52 Hz
– Low pass filter: 700 Hz
– Full scale: 2 g for accelerometer, 2000 dps for gyroscope
LIS2MDL
– Low power mode
– Output data rate: 50 Hz
– Full scale: 50 gauss
• APP DATA OUTPUT:
– 3D-Cube orientation model
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UM2580 - Rev 5
Figure 34. Sensor fusion app - enabling magnetometer calibration
(high bandwidth acceleration sensor and gyroscope)
(compensated magnetometer)
Quaternion values
Heading
Euler angles
Plot collected data
UM2580
Mode 1 example apps
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