Mechanical and Electrical Specifications

12

Freescale

Sensor Fusion Library for Kinetis MCUs, Rev. 0.7, 9/2015

Freescale Semiconductor, Inc.

3.4 References

1. "Orientation Representations: Part 1" at http://blogs.freescale.com/iot/2012/10/orientation-

representations-part-1/ community/the-embedded-beat/blog/2012/ 10/29/orientation-

representations-part-1

2. "Orientation Representations: Part 2" at http://blogs.freescale.com/sensors/2013/01/orientation-

representations-part-2/ community/the-embedded-beat/blog/2013/ 01/22/orientation-

representations-part-2

3. "Hard and soft iron magnetic compensation explained" at

http://blogs.freescale.com/sensors/2011/03/hard-and-soft-iron-magnetic-compensation-explained/

community.freescale.com/community/the-embeddedbeat/ blog/2011/03/14/hard- and-soft-iron-

magnetic-compensation-explained

4. CodeWarrior Integrated Development Environment Software at freescale.com/codewarrior

5. Kinetis Design Studio Integrated Development Environment

6. "Euler Angles" at http://en.wikipedia.org/wiki/Euler_Angles

7. "Introduction to Random Signals and Applied Kalman Filtering", 3rd edition, by Robert Grover

brown and Patrick Y.C. Hwang, John Wiley & Sons, 1997

8. "Quaternions and Rotation Sequences", Jack B. Kuipers, Princeton University Press, 1999

9. Freescale Freedom development platform home page at freescale.com/freedom

10.

OpenSDA User’s Guide, Freescale Semiconductor, Rev 0.93, 2012-09-18

11.

PE micro Open SDA Support

12.

PE micro Embedded OSBDM support

13.

Matlab computer software by MathWorks—http://www.mathworks.com/products/ matlab/

14.

www.freescale.com/opensda

4 Mechanical and Electrical Specifications

4.1 General Considerations

Fusion algorithms can be tuned to trade off one performance parameter versus another. Examples

include:

• Speedy handling of magnetic interference versus slower convergence to magnetic north

• Smoothness versus responsiveness

• Accuracy versus bandwidth

NOTE

All of the above means that there is no one correct configuration. Accordingly, this datasheet presents

typical performance as observed on the sample projects supplied by Freescale on specific Freescale

development platforms. No attempt has been made to measure a statistically significant number of

boards. Measured values are typically those observed on as few as one board.