Yaw starts drifting after turning on linear acceleration and angular velocity from mtmanager

[kushal2507]

I am currently using an MTi-30-2A8G4. I have been using it for over a month now without any issues. I have also performed the mag field calibration on it and the orientation drift was next to nothing for it.

However, recently I turned on the linear acceleration and angular velocity components by using the mtmanager and since then I have noticed a significant increase in drift particularly in YAW. The drift goes away if I turn of the acceleration.

Do I need to perform Mag field calibration again? Or is there something I am missing?

[Steven-GH]

Hi @kushal2507,

Enabling or disabling the acceleration and angular velocity outputs cannot really have anything to do with the orientation output of the device. The output configuration has no influence on how the filter of the MTi computes orientation. It could of course be that your software/ROS driver is trying to determine orientation based on the sensor data when you enable them.
Performing a magnetic calibration would definitely be a good idea. Also make sure that there are no magnetic disturbances in your environment, such as metal desks, laptops, etc.

For further support, please contact us at base.xsens.com. This Github page only discusses a (deprecated) ROS driver.