MKR IMU problems and explanations

Official Hardware MKR Family MKR Shields
1

Good morning everyone,
I would like to know if anyone has any information on the calibration of this shield.
my big problem is that when i go to read eulerian angles the heading is very wrong
I already opened a forum post asking about the accuracy of the Nicla Sense and was told to calibrate the magnetometers.
my questions are:

  1. Is there a sketch to have a more or less precise calibration to be performed within your own code?
  2. theoretically the Eulerian angles are processed by the BNO055 MCU, where the data is filtered, corrected and processed. using the official Arduino library does this automatic calibration take place?
  3. Is it possible that all these algorithms inside the IMUs are just hot air in the end? I'm noticing that all IMUs have the same problem.
    I am attaching the raw files of my magnetometer, I don't know if these are calibrated or not by the MCU.. I hope you can clarify
    mag
    mag4537×4532 2.22 MB
2

The BNO055 is self contained, with an internal quaternion filter and undocumented calibration procedure that does not work very well. The calibration cannot be turned off.

Study the BNO055 datasheet to learn how to use the sensor.

3

okay so you advise me to take the raw data directly from the magnetometer and calibrate them, then with these corrected data calculate the yaw without reading it directly from the MCU?

4

That is what I would do.

5

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