Understanding FusionMatrix gyroscopeMisalignment about fusion

[xioTechnologies]

We do not have any tutorials or examples for the calculating a misalignment matrix. The article you linked looks like a good place to start.

On a separate note, I suggest you use the gyroscope offset correct algorithm as demonstrated on line 24 and line 51. Adding these two lines of code will correct for the drift apparent in your plots.

[herbertvuijk]

This guy made a calibration that is very similar to the misalignment matrix used by the xio Fusion algo. It's for an accelerometer though, but I guess the principles are the same.

By the way I found out by testing that you indeed have to do like a 6-orthogonal calibration for the accelerometer as offsets and gains are different in every position. A gyroscope though, seems to have the same offsets regardless of orientation. So I guess you don't really need a misalignment gyromatrix. Instead you can just substract a constant value that you have measured.

Here an example of a calibration matrix (offset, gain, angles):

https://github.com/BasicAirData/Clinometer/blob/master/app/src/main/java/eu/basicairdata/clinometer/CalibrationActivity.java