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slow convergence and yaw drift In 9DOF Kalman Fusion

Question asked by Jiao Qing on Aug 16, 2016

The euler angle performs slowly to convergence  when I rotate the device and then put it  stay stationary, both yaw、pitch and roll. What's more,The yaw drift is obvious when the device is stationary.

How can I adjust the covariance of  magnetic disturbance and linear acceleration ,increase or decrease?

FQWA_9DOF_GBY_KALMAN   1E-4F

FQWD_9DOF_GBY_KALMAN   0.5F

Is magnetic disturbance time constants concerned about the problem?

FCD_9DOF_GBY_KALMAN

Thanks for help!

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