First of all, please let me know on what forum topic I should post this question if it does not belong here
I have an OpenLog Artemis with IMU (DEV-16832). I want to calculate absolute coordinates using that 9 DoF IMU. Now, I tried doing so using trigonometry and Euler angles but that exposes me to gimbal lock and who knows what other problems. So I research this topic further and found that people use Quaternions for such solutions (using Madgwick's Quaternion Update algorithm).
This approach does not work as I want it to since I got pretty much the same problem as before (with Euler angles).
Next, I found out that the DMP can calculate quaternions for me so I tried that out but weird things kept happening. For example, when the IMU is placed stationary on the table, quaternion (Q1, Q2, Q3) values kept increasing or decreasing and then after 15 seconds they would stop, then again when I would move it (for 90%) I would, again, have to wait for about 15s until those values "calmed down".
Also, the 9DoF values (aX, aY, aZ, gX, gY, gZ, mX, mY, mX) are not really stable when the IMU is stationary, but that's something I can solve using average values of n readings since that is just sensor noise I suppose.
Do I have to calibrate the IMU and if so, how? (I have not found any detailed description on how to calibrate it).
And I know its a long shot, but does anyone have any working solutions that calculate absolute coordinates using ICM-20948?
Thank You for Your help and time!