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sparkfun / SparkFun_BNO080_Arduino_Library

An Arduino Library for the BNO080 IMU combination triple axis accelerometer/gyro/magnetometer packaged with an ARM Cortex M0+ running powerful algorithms.
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Is it possible to get somenthing about the covariance matrix? #38

Closed JackFrost67 closed 4 years ago

JackFrost67 commented 4 years ago

Subject of the issue

Hi, I'm working on a multi-imu system and I want to get from the BNO080 some informations about the covariance. I've read that every output package have a "status" byte, but what this byte stands for? Am I able to get some information about the covariance from byte?

My workbench

JackFrost67 commented 4 years ago

If a Kalman filter is applied on the board, is there a way to get the covariance matrix of the estimate status? Metadata gives a Q point 2 value which I don't understand what that means.

PaulZC commented 4 years ago

Hi @JackFrost67 , I have looked all the way through the Hillcrest/CEVA SH-2 Reference Manual and I don't see any way of accessing the covariance matrix. Q point 2 provides a measure of the sensor bias (offset) or accuracy. Sadly that is not what you are looking for. I am going to close this issue as I don't think there is any way we can help you, but please feel free to reopen if we have missed something. Best wishes, Paul