I'm trying to obtain acceleration from my IMU in the world reference frame. The approach I'm trying is to take the quaternion from getQuat(), get its conjugate, then multiply it by the acceleration vector. My code is here: https://pastebin.com/rYEc3R8c
My expectation is that when I rotate my IMU, the rotated acceleration stays constant because it is measuring gravity in the world reference frame. But that is not what happens. Instead, the 'rotated' acceleration changes as the IMU rotates. Logs are here: https://pastebin.com/n6DdXgrj
Why is this happening? Could it be that the rotation quaternion isn't accurate?
I'm trying to obtain acceleration from my IMU in the world reference frame. The approach I'm trying is to take the quaternion from getQuat(), get its conjugate, then multiply it by the acceleration vector. My code is here: https://pastebin.com/rYEc3R8c
My expectation is that when I rotate my IMU, the rotated acceleration stays constant because it is measuring gravity in the world reference frame. But that is not what happens. Instead, the 'rotated' acceleration changes as the IMU rotates. Logs are here: https://pastebin.com/n6DdXgrj
Why is this happening? Could it be that the rotation quaternion isn't accurate?