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18
README.md
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# LSM9DS1-Adafruit-AHRS # LSM9DS1-Adafruit-AHRS
A fork of jremington's AHRS library for the Adafruit LSM9DS1 This library is a Mahony-based AHRS and Tilt compensated compass for ESP32s and the LSM9DS1 sensor, written and tested for the Adafruit LSM9DS1 breakout board, using I2C connection on a Tiny S3 (ESP32) using PlatformIO. This library is a a fork of jremington's AHRS library for the sensor of the same name, however it utilizes [Adafruits's LSM9DS1](https://github.com/adafruit/Adafruit_LSM9DS1) library instead of the Sparkfun one and operates using C++ instead of Arduino conventions.
![Image of the IMU](image url "https://cdn-shop.adafruit.com/970x728/4634-12.jpg")
This library was written to support the Ringinator project and to better understand the science behind Mahony.
# Installation
WIP
## How to use
# Dependencies
- [Adafruit LSM9DS1](https://github.com/adafruit/Adafruit_LSM9DS1)
- [Adafruit Unified Sensor Driver](https://github.com/adafruit/Adafruit_Sensor)
- Arduino Framework

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calibration/cal_a.csv Normal file
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300 -3.21 -9.44 -2.96

300
calibration/cal_m.csv Normal file
View file

@ -0,0 +1,300 @@
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28 7.98 -52.87 37.79
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217 9.49 -55.58 32.56
218 7.97 -49.52 41.04
219 3.20 -36.64 52.97
220 2.41 -28.75 56.64
221 0.26 -21.28 61.60
222 -1.24 -14.72 62.75
223 -3.74 -11.30 63.42
224 -3.79 -1.52 65.00
225 -3.91 6.53 64.80
226 -4.16 15.93 62.91
227 -4.79 20.65 61.87
228 -5.72 29.39 58.58
229 -4.70 36.20 54.97
230 -2.65 43.91 47.33
231 -1.77 46.58 45.24
232 -0.80 52.50 39.04
233 -0.46 54.50 35.92
234 0.69 58.97 26.02
235 2.77 60.01 22.79
236 3.02 60.11 23.76
237 3.53 60.63 24.69
238 5.00 58.58 27.06
239 5.35 54.32 34.63
240 5.68 48.51 43.55
241 5.96 42.14 48.88
242 3.15 32.60 56.63
243 -0.61 21.72 61.57
244 -0.75 5.16 64.45
245 -4.08 -6.73 64.70
246 -4.56 -23.93 58.91
247 -8.01 -36.79 51.53
248 -11.88 -46.97 41.80
249 -12.92 -57.40 26.20
250 -13.86 -61.99 7.76
251 -12.18 -62.47 -13.21
252 -7.78 -58.05 -28.67
253 -5.00 -52.60 -38.45
254 0.84 -44.11 -47.42
255 5.87 -37.42 -52.53
256 9.40 -32.32 -54.84
257 15.28 -27.19 -57.23
258 18.40 -20.73 -58.57
259 20.71 -20.50 -59.00
260 25.47 -19.00 -56.69
261 28.55 -17.69 -56.26
262 31.79 -14.81 -54.77
263 35.26 -12.12 -52.74
264 36.78 -10.14 -52.86
265 36.78 -8.97 -54.11
266 36.98 -6.14 -53.27
267 35.09 -2.45 -55.77
268 34.01 3.92 -56.80
269 33.51 14.53 -52.54
270 33.73 26.29 -48.84
271 34.40 29.42 -47.90
272 34.04 38.45 -41.36
273 34.72 45.27 -30.70
274 34.84 48.71 -22.51
275 35.36 52.26 -13.69
276 36.92 53.82 -4.79
277 36.12 53.65 -0.40
278 36.78 52.98 6.80
279 36.70 51.96 12.52
280 35.93 51.76 11.92
281 31.82 55.19 6.99
282 31.58 55.62 1.95
283 30.37 56.55 -4.24
284 30.30 56.85 -7.64
285 29.96 57.18 -7.27
286 28.04 56.82 -10.58
287 25.12 57.74 -13.80
288 22.15 58.94 -16.24
289 20.89 58.57 -18.81
290 18.20 58.60 -21.46
291 16.52 58.41 -23.73
292 14.23 57.52 -26.62
293 10.98 57.40 -30.63
294 7.42 56.45 -31.47
295 3.60 57.55 -33.12
296 0.78 57.21 -33.80
297 -1.35 56.66 -33.37
298 -4.40 57.30 -31.49
299 -10.02 57.19 -31.83
300 -12.57 57.08 -32.29

152
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/*
This code is a modified version of the standard code from
the Adafruit LSM9DS1 library.
Example I2C hardware setup with the TinyS3:
LSM9DS1 -------- ESP32
3V ------------- 3.3V
G -------------- GND or -
SCL ------------ 9
SDA ------------ 8
*/
#include <Arduino.h>
#include <Wire.h>
#include <SPI.h>
#include <Adafruit_LSM9DS1.h>
#include <Adafruit_Sensor.h> // not used in this demo but required!
// i2c
Adafruit_LSM9DS1 lsm = Adafruit_LSM9DS1();
#define LSM9DS1_SCK A5
#define LSM9DS1_MISO 12
#define LSM9DS1_MOSI A4
#define LSM9DS1_XGCS 6
#define LSM9DS1_MCS 5
// You can also use software SPI
//Adafruit_LSM9DS1 lsm = Adafruit_LSM9DS1(LSM9DS1_SCK, LSM9DS1_MISO, LSM9DS1_MOSI, LSM9DS1_XGCS, LSM9DS1_MCS);
// Or hardware SPI! In this case, only CS pins are passed in
//Adafruit_LSM9DS1 lsm = Adafruit_LSM9DS1(LSM9DS1_XGCS, LSM9DS1_MCS);
#define DELAY 100 // 100 ms between prints
int printCount = 0; // Counts the number of times we performed measurements
bool acc = true; // Switches between the accelerometer and magnetometer
void setupSensor()
{
// IMPORTANT: Accuracy is inversely proportional to the sensor range!
// Ringinator works with
// 1.) Set the accelerometer range
lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_2G, lsm.LSM9DS1_ACCELDATARATE_10HZ);
//lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_4G, lsm.LSM9DS1_ACCELDATARATE_119HZ);
//lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_8G, lsm.LSM9DS1_ACCELDATARATE_476HZ);
//lsm.setupAccel(lsm.LSM9DS1_ACCELRANGE_16G, lsm.LSM9DS1_ACCELDATARATE_952HZ);
// 2.) Set the magnetometer sensitivity
lsm.setupMag(lsm.LSM9DS1_MAGGAIN_4GAUSS);
//lsm.setupMag(lsm.LSM9DS1_MAGGAIN_8GAUSS);
//lsm.setupMag(lsm.LSM9DS1_MAGGAIN_12GAUSS);
//lsm.setupMag(lsm.LSM9DS1_MAGGAIN_16GAUSS);
// 3.) Setup the gyroscope
lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_245DPS);
//lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_500DPS);
//lsm.setupGyro(lsm.LSM9DS1_GYROSCALE_2000DPS);
}
void setup()
{
Serial.begin(115200);
while (!Serial) {
delay(1); // will pause Zero, Leonardo, etc until serial console opens
}
Serial.println("LSM9DS1 data read demo");
// Try to initialise and warn if we couldn't detect the chip
if (!lsm.begin())
{
Serial.println("Oops ... unable to initialize the LSM9DS1. Check your wiring!");
while (1);
}
Serial.println("Found LSM9DS1 9DOF");
// helper to just set the default scaling we want, see above!
setupSensor();
delay(2000); // 2 Second delay because the TinyS3 has to be reset and the button press shakes the device
Serial.println("Collecting gyro data, hold still");
// get gyro offset
float gxa = 0, gya = 0, gza = 0; //change to double if number is big
for (int i = 0; i < 300; i++) {
lsm.read(); /* ask it to read in the data */
sensors_event_t a, m, g, temp;
lsm.getEvent(&a, &m, &g, &temp);
gxa += g.gyro.x;
gya += g.gyro.y;
gza += g.gyro.z;
}
Serial.println(F("gyro offsets"));
Serial.print(gxa / 300);
Serial.print(", ");
Serial.print(gya / 300);
Serial.print(", ");
Serial.println(gza / 300);
Serial.println();
Serial.println(F("rotate slowly and carefully in 3D"));
delay(3000);
Serial.println("starting");
}
void loop()
{
lsm.read(); /* ask it to read in the data */
/* Get a new sensor event */
sensors_event_t a, m, g, temp;
lsm.getEvent(&a, &m, &g, &temp);
if (printCount < 300 && acc) {
Serial.print(a.acceleration.x);
Serial.print(", ");
Serial.print(a.acceleration.y);
Serial.print(", ");
Serial.println(a.acceleration.z);
printCount++;
} else if (printCount < 300 && !acc) {
Serial.print(m.magnetic.x);
Serial.print(", ");
Serial.print(m.magnetic.y);
Serial.print(", ");
Serial.println(m.magnetic.z);
printCount++;
} else {
Serial.println("Done.");
delay(4000);
printCount = 0;
if (acc) {
Serial.println(F("rotate slowly and carefully in 3D"));
delay(3000);
Serial.println("starting");
acc = false;
} else {
while(1); // HALT
}
}
delay(DELAY);
}

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import numpy as np
from scipy import linalg
from matplotlib import pyplot as plt
#https://github.com/nliaudat/magnetometer_calibration/blob/main/calibrate.py
#corrected code by S. James Remington
#required data input file: x,y,z values in .csv (text, comma separated value) format.
class Magnetometer(object):
'''
references :
- https://teslabs.com/articles/magnetometer-calibration/
- https://github.com/nliaudat/magnetometer_calibration/blob/main/calibrate.py
'''
MField = 1000 #arbitrary norm of magnetic field vectors
def __init__(self, F=MField):
# initialize values
self.F = F
self.b = np.zeros([3, 1])
self.A_1 = np.eye(3)
def run(self):
data = np.loadtxt("cal_m.csv",delimiter=',')
print("shape of data array:",data.shape)
#print("datatype of data:",data.dtype)
print("First 5 rows raw:\n", data[:5])
# ellipsoid fit
s = np.array(data).T
M, n, d = self.__ellipsoid_fit(s)
# calibration parameters
M_1 = linalg.inv(M)
self.b = -np.dot(M_1, n)
self.A_1 = np.real(self.F / np.sqrt(np.dot(n.T, np.dot(M_1, n)) - d) * linalg.sqrtm(M))
#print("M:\n", M, "\nn:\n", n, "\nd:\n", d)
#print("M_1:\n",M_1, "\nb:\n", self.b, "\nA_1:\n", self.A_1)
print("\nData normalized to ",self.F)
print("Soft iron transformation matrix:\n",self.A_1)
print("Hard iron bias:\n", self.b)
plt.rcParams["figure.autolayout"] = True
#fig = plt.figure()
#ax = fig.add_subplot(111, projection='3d')
#ax.scatter(data[:,0], data[:,1], data[:,2], marker='o', color='r')
#plt.show()
result = []
for row in data:
# subtract the hard iron offset
xm_off = row[0]-self.b[0]
ym_off = row[1]-self.b[1]
zm_off = row[2]-self.b[2]
#multiply by the inverse soft iron offset
xm_cal = xm_off * self.A_1[0,0] + ym_off * self.A_1[0,1] + zm_off * self.A_1[0,2]
ym_cal = xm_off * self.A_1[1,0] + ym_off * self.A_1[1,1] + zm_off * self.A_1[1,2]
zm_cal = xm_off * self.A_1[2,0] + ym_off * self.A_1[2,1] + zm_off * self.A_1[2,2]
result = np.append(result, np.array([xm_cal, ym_cal, zm_cal]) )#, axis=0 )
result = result.reshape(-1, 3)
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
ax.scatter(result[:,0], result[:,1], result[:,2], marker='o', color='g')
plt.show()
print("First 5 rows calibrated:\n", result[:5])
#save corrected data to file "out.txt"
np.savetxt('out.txt', result, fmt='%f', delimiter=' ,')
print("*************************" )
print("code to paste : " )
print("*************************" )
self.b = np.round(self.b,2)
print("float B[3] = {", self.b[0],",", self.b[1],",", self.b[2],"};")
print("\n")
self.A_1 = np.round(self.A_1,5)
print("float A_inv[3][3] = {")
print("{", self.A_1[0,0],",", self.A_1[0,1],",", self.A_1[0,2], "},")
print("{", self.A_1[1,0],",", self.A_1[1,1],",", self.A_1[2,1], "},")
print("{", self.A_1[2,0],",", self.A_1[2,1],",", self.A_1[2,2], "}};")
print("\n")
def __ellipsoid_fit(self, s):
''' Estimate ellipsoid parameters from a set of points.
Parameters
----------
s : array_like
The samples (M,N) where M=3 (x,y,z) and N=number of samples.
Returns
-------
M, n, d : array_like, array_like, float
The ellipsoid parameters M, n, d.
References
----------
.. [1] Qingde Li; Griffiths, J.G., "Least squares ellipsoid specific
fitting," in Geometric Modeling and Processing, 2004.
Proceedings, vol., no., pp.335-340, 2004
'''
# D (samples)
D = np.array([s[0]**2., s[1]**2., s[2]**2.,
2.*s[1]*s[2], 2.*s[0]*s[2], 2.*s[0]*s[1],
2.*s[0], 2.*s[1], 2.*s[2], np.ones_like(s[0])])
# S, S_11, S_12, S_21, S_22 (eq. 11)
S = np.dot(D, D.T)
S_11 = S[:6,:6]
S_12 = S[:6,6:]
S_21 = S[6:,:6]
S_22 = S[6:,6:]
# C (Eq. 8, k=4)
C = np.array([[-1, 1, 1, 0, 0, 0],
[ 1, -1, 1, 0, 0, 0],
[ 1, 1, -1, 0, 0, 0],
[ 0, 0, 0, -4, 0, 0],
[ 0, 0, 0, 0, -4, 0],
[ 0, 0, 0, 0, 0, -4]])
# v_1 (eq. 15, solution)
E = np.dot(linalg.inv(C),
S_11 - np.dot(S_12, np.dot(linalg.inv(S_22), S_21)))
E_w, E_v = np.linalg.eig(E)
v_1 = E_v[:, np.argmax(E_w)]
if v_1[0] < 0: v_1 = -v_1
# v_2 (eq. 13, solution)
v_2 = np.dot(np.dot(-np.linalg.inv(S_22), S_21), v_1)
# quadratic-form parameters, parameters h and f swapped as per correction by Roger R on Teslabs page
M = np.array([[v_1[0], v_1[5], v_1[4]],
[v_1[5], v_1[1], v_1[3]],
[v_1[4], v_1[3], v_1[2]]])
n = np.array([[v_2[0]],
[v_2[1]],
[v_2[2]]])
d = v_2[3]
return M, n, d
if __name__=='__main__':
Magnetometer().run()

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calibration/sample_out.txt Normal file
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shape of data array: (300, 3)
First 5 rows raw:
[[ 41.93 2.7 -67.14]
[ 41.77 2.97 -66.94]
[ 42.09 2.6 -66.38]
[ 42.05 3.03 -67.19]
[ 42.15 2.27 -67.33]]
Data normalized to 1000
Soft iron transformation matrix:
[[21.23836366 0.66439672 0.48954388]
[ 0.66439672 19.50603233 -0.03060383]
[ 0.48954388 -0.03060383 20.84084544]]
Hard iron bias:
[[ 26.9734346 ]
[ 23.62731129]
[-23.37274735]]
First 5 rows calibrated:
[[ 282.32294764 -396.9322721 -904.184197 ]
[ 279.20210535 -391.77806761 -900.10261797]
[ 286.0266995 -398.79983076 -888.26376706]
[ 285.06632501 -390.41402364 -905.17759327]
[ 286.61668372 -405.16788399 -908.02309834]]
*************************
code to paste :
*************************
float B[3] = { [26.97] , [23.63] , [-23.37] };
float A_inv[3][3] = {
{ 21.23836 , 0.6644 , 0.48954 },
{ 0.6644 , 19.50603 , -0.0306 },
{ 0.48954 , -0.0306 , 20.84085 }};

662
calibration/sample_serial_output.txt Normal file
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--- Terminal on /dev/ttyACM1 | 115200 8-N-1
--- Available filters and text transformations: colorize, debug, default, direct, esp32_exception_decoder, hexlify, log2file, nocontrol, printable, send_on_enter, time
--- More details at https://bit.ly/pio-monitor-filters
--- Quit: Ctrl+C | Menu: Ctrl+T | Help: Ctrl+T followed by Ctrl+H
Found LSM9DS1 9DOF
Collecting gyro data, hold still
gyro offsets
-0.05, -0.00, 0.03
rotate slowly and carefully in 3D
starting
Accel X: -0.30 m/s^2 Y: 0.05 m/s^2 Z: 9.73 m/s^2
Mag X: 37.52 uT Y: 39.80 uT Z: -55.19 uT
Accel X: -0.30 m/s^2 Y: 0.04 m/s^2 Z: 9.72 m/s^2
Mag X: 37.21 uT Y: 39.81 uT Z: -54.79 uT
Accel X: -0.29 m/s^2 Y: 0.05 m/s^2 Z: 9.74 m/s^2
Mag X: 37.58 uT Y: 40.43 uT Z: -55.23 uT
Accel X: -0.32 m/s^2 Y: 0.05 m/s^2 Z: 9.71 m/s^2
Mag X: 37.65 uT Y: 39.78 uT Z: -55.58 uT
Accel X: -0.32 m/s^2 Y: 0.06 m/s^2 Z: 9.69 m/s^2
Mag X: 37.45 uT Y: 39.81 uT Z: -55.63 uT
Accel X: -0.33 m/s^2 Y: 0.08 m/s^2 Z: 9.69 m/s^2
Mag X: 37.65 uT Y: 39.87 uT Z: -55.16 uT
Accel X: -0.32 m/s^2 Y: 0.07 m/s^2 Z: 9.73 m/s^2
Mag X: 37.43 uT Y: 39.93 uT Z: -55.14 uT
Accel X: -0.30 m/s^2 Y: 0.05 m/s^2 Z: 9.74 m/s^2
Mag X: 37.61 uT Y: 40.02 uT Z: -55.74 uT
Accel X: -0.34 m/s^2 Y: 0.06 m/s^2 Z: 9.72 m/s^2
Mag X: 37.18 uT Y: 40.49 uT Z: -55.58 uT
Accel X: -0.34 m/s^2 Y: 0.06 m/s^2 Z: 9.72 m/s^2
Mag X: 37.62 uT Y: 40.13 uT Z: -55.63 uT
Accel X: -0.29 m/s^2 Y: 0.08 m/s^2 Z: 9.72 m/s^2
Mag X: 37.46 uT Y: 40.49 uT Z: -55.36 uT
Accel X: -0.36 m/s^2 Y: 0.08 m/s^2 Z: 9.66 m/s^2
Mag X: 37.59 uT Y: 40.34 uT Z: -55.67 uT
Accel X: 0.09 m/s^2 Y: 0.24 m/s^2 Z: 9.69 m/s^2
Mag X: 37.53 uT Y: 40.62 uT Z: -55.55 uT
Accel X: -0.24 m/s^2 Y: 0.10 m/s^2 Z: 9.44 m/s^2
Mag X: 37.77 uT Y: 39.93 uT Z: -55.66 uT
Accel X: -0.49 m/s^2 Y: 0.08 m/s^2 Z: 9.68 m/s^2
Mag X: 38.03 uT Y: 40.47 uT Z: -56.64 uT
Accel X: -0.49 m/s^2 Y: -0.75 m/s^2 Z: 10.05 m/s^2
Mag X: 38.88 uT Y: 39.94 uT Z: -55.39 uT
Accel X: 0.13 m/s^2 Y: 0.09 m/s^2 Z: 10.36 m/s^2
Mag X: 39.78 uT Y: 39.23 uT Z: -54.57 uT
Accel X: -0.52 m/s^2 Y: -0.24 m/s^2 Z: 9.72 m/s^2
Mag X: 39.93 uT Y: 38.78 uT Z: -54.52 uT
Accel X: -0.00 m/s^2 Y: 0.07 m/s^2 Z: 9.96 m/s^2
Mag X: 42.12 uT Y: 40.73 uT Z: -53.84 uT
Accel X: 0.74 m/s^2 Y: -1.88 m/s^2 Z: 9.26 m/s^2
Mag X: 44.68 uT Y: 44.31 uT Z: -51.11 uT
Accel X: 0.89 m/s^2 Y: -2.00 m/s^2 Z: 9.34 m/s^2
Mag X: 44.86 uT Y: 47.56 uT Z: -48.45 uT
Accel X: 1.05 m/s^2 Y: -3.62 m/s^2 Z: 9.00 m/s^2
Mag X: 46.19 uT Y: 51.39 uT Z: -44.94 uT
Accel X: 0.84 m/s^2 Y: -5.05 m/s^2 Z: 8.23 m/s^2
Mag X: 46.77 uT Y: 55.06 uT Z: -40.63 uT
Accel X: 1.03 m/s^2 Y: -5.86 m/s^2 Z: 7.99 m/s^2
Mag X: 45.95 uT Y: 58.13 uT Z: -37.69 uT
Accel X: 0.58 m/s^2 Y: -6.90 m/s^2 Z: 6.46 m/s^2
Mag X: 44.15 uT Y: 61.90 uT Z: -33.10 uT
Accel X: 0.57 m/s^2 Y: -7.80 m/s^2 Z: 5.72 m/s^2
Mag X: 43.19 uT Y: 64.59 uT Z: -26.75 uT
Accel X: 0.67 m/s^2 Y: -8.31 m/s^2 Z: 5.04 m/s^2
Mag X: 42.36 uT Y: 66.34 uT Z: -20.64 uT
Accel X: 0.31 m/s^2 Y: -8.80 m/s^2 Z: 3.14 m/s^2
Mag X: 41.60 uT Y: 67.03 uT Z: -15.27 uT
Accel X: 0.20 m/s^2 Y: -9.79 m/s^2 Z: 1.81 m/s^2
Mag X: 40.89 uT Y: 67.03 uT Z: -8.48 uT
Accel X: -0.15 m/s^2 Y: -9.31 m/s^2 Z: 0.37 m/s^2
Mag X: 40.40 uT Y: 66.30 uT Z: -5.01 uT
Accel X: 0.02 m/s^2 Y: -9.79 m/s^2 Z: 0.94 m/s^2
Mag X: 40.89 uT Y: 65.32 uT Z: -2.43 uT
Accel X: 0.11 m/s^2 Y: -9.90 m/s^2 Z: -1.04 m/s^2
Mag X: 40.81 uT Y: 64.43 uT Z: 0.04 uT
Accel X: -0.46 m/s^2 Y: -9.30 m/s^2 Z: -1.94 m/s^2
Mag X: 40.70 uT Y: 62.60 uT Z: 3.73 uT
Accel X: -0.37 m/s^2 Y: -9.12 m/s^2 Z: -1.94 m/s^2
Mag X: 39.42 uT Y: 60.67 uT Z: 7.97 uT
Accel X: -0.42 m/s^2 Y: -8.95 m/s^2 Z: -4.12 m/s^2
Mag X: 39.48 uT Y: 59.00 uT Z: 10.36 uT
Accel X: -0.48 m/s^2 Y: -9.27 m/s^2 Z: -4.22 m/s^2
Mag X: 39.83 uT Y: 56.23 uT Z: 13.24 uT
Accel X: -0.22 m/s^2 Y: -9.00 m/s^2 Z: -4.31 m/s^2
Mag X: 41.63 uT Y: 52.95 uT Z: 14.37 uT
Accel X: -0.13 m/s^2 Y: -8.03 m/s^2 Z: -5.64 m/s^2
Mag X: 42.62 uT Y: 50.61 uT Z: 17.44 uT
Accel X: -0.07 m/s^2 Y: -8.60 m/s^2 Z: -5.46 m/s^2
Mag X: 42.71 uT Y: 48.26 uT Z: 18.61 uT
Accel X: 0.14 m/s^2 Y: -7.66 m/s^2 Z: -6.61 m/s^2
Mag X: 42.49 uT Y: 46.86 uT Z: 19.50 uT
Accel X: 0.66 m/s^2 Y: -7.77 m/s^2 Z: -6.47 m/s^2
Mag X: 42.87 uT Y: 44.96 uT Z: 21.78 uT
Accel X: 0.40 m/s^2 Y: -6.81 m/s^2 Z: -8.10 m/s^2
Mag X: 42.77 uT Y: 42.31 uT Z: 22.80 uT
Accel X: 0.53 m/s^2 Y: -6.35 m/s^2 Z: -7.98 m/s^2
Mag X: 44.31 uT Y: 39.87 uT Z: 22.67 uT
Accel X: 0.24 m/s^2 Y: -5.39 m/s^2 Z: -8.44 m/s^2
Mag X: 44.64 uT Y: 34.84 uT Z: 25.10 uT
Accel X: 0.68 m/s^2 Y: -3.37 m/s^2 Z: -9.18 m/s^2
Mag X: 45.18 uT Y: 28.75 uT Z: 25.99 uT
Accel X: 0.42 m/s^2 Y: -2.70 m/s^2 Z: -9.59 m/s^2
Mag X: 44.78 uT Y: 22.51 uT Z: 26.44 uT
Accel X: 0.54 m/s^2 Y: -1.58 m/s^2 Z: -10.85 m/s^2
Mag X: 43.57 uT Y: 15.89 uT Z: 26.31 uT
Accel X: 0.57 m/s^2 Y: 0.95 m/s^2 Z: -10.54 m/s^2
Mag X: 42.34 uT Y: 9.02 uT Z: 24.25 uT
Accel X: 0.48 m/s^2 Y: 2.17 m/s^2 Z: -9.95 m/s^2
Mag X: 41.42 uT Y: 1.24 uT Z: 21.66 uT
Accel X: 0.03 m/s^2 Y: 3.97 m/s^2 Z: -9.63 m/s^2
Mag X: 42.55 uT Y: -5.58 uT Z: 18.01 uT
Accel X: 0.18 m/s^2 Y: 5.08 m/s^2 Z: -8.48 m/s^2
Mag X: 42.98 uT Y: -10.01 uT Z: 12.72 uT
Accel X: 0.25 m/s^2 Y: 5.88 m/s^2 Z: -7.63 m/s^2
Mag X: 43.26 uT Y: -13.74 uT Z: 7.53 uT
Accel X: 0.69 m/s^2 Y: 6.63 m/s^2 Z: -7.54 m/s^2
Mag X: 44.72 uT Y: -16.54 uT Z: 3.08 uT
Accel X: 0.68 m/s^2 Y: 8.28 m/s^2 Z: -5.86 m/s^2
Mag X: 43.63 uT Y: -19.20 uT Z: -3.46 uT
Accel X: 0.08 m/s^2 Y: 9.16 m/s^2 Z: -3.11 m/s^2
Mag X: 42.65 uT Y: -20.83 uT Z: -10.11 uT
Accel X: 0.55 m/s^2 Y: 10.00 m/s^2 Z: -1.86 m/s^2
Mag X: 42.82 uT Y: -20.84 uT Z: -20.55 uT
Accel X: -0.13 m/s^2 Y: 9.72 m/s^2 Z: 0.74 m/s^2
Mag X: 41.20 uT Y: -18.69 uT Z: -29.67 uT
Accel X: -0.34 m/s^2 Y: 9.34 m/s^2 Z: 2.26 m/s^2
Mag X: 41.06 uT Y: -14.25 uT Z: -37.15 uT
Accel X: 0.17 m/s^2 Y: 8.64 m/s^2 Z: 4.07 m/s^2
Mag X: 41.54 uT Y: -10.08 uT Z: -43.45 uT
Accel X: -0.40 m/s^2 Y: 8.46 m/s^2 Z: 5.29 m/s^2
Mag X: 41.52 uT Y: -5.63 uT Z: -46.29 uT
Accel X: -0.15 m/s^2 Y: 7.33 m/s^2 Z: 5.57 m/s^2
Mag X: 42.01 uT Y: 0.58 uT Z: -51.17 uT
Accel X: -0.25 m/s^2 Y: 6.59 m/s^2 Z: 7.36 m/s^2
Mag X: 41.27 uT Y: 5.50 uT Z: -53.64 uT
Accel X: -0.66 m/s^2 Y: 5.44 m/s^2 Z: 8.00 m/s^2
Mag X: 40.32 uT Y: 10.93 uT Z: -54.90 uT
Accel X: -0.23 m/s^2 Y: 4.31 m/s^2 Z: 8.85 m/s^2
Mag X: 39.23 uT Y: 17.74 uT Z: -56.64 uT
Accel X: -0.22 m/s^2 Y: 2.93 m/s^2 Z: 9.21 m/s^2
Mag X: 38.38 uT Y: 22.76 uT Z: -57.47 uT
Accel X: 0.07 m/s^2 Y: 1.47 m/s^2 Z: 10.09 m/s^2
Mag X: 37.72 uT Y: 27.62 uT Z: -57.04 uT
Accel X: -0.21 m/s^2 Y: 1.41 m/s^2 Z: 9.93 m/s^2
Mag X: 38.79 uT Y: 33.35 uT Z: -55.19 uT
Accel X: -0.23 m/s^2 Y: 0.88 m/s^2 Z: 9.76 m/s^2
Mag X: 39.70 uT Y: 34.96 uT Z: -54.21 uT
Accel X: -0.19 m/s^2 Y: 1.28 m/s^2 Z: 10.10 m/s^2
Mag X: 39.93 uT Y: 32.64 uT Z: -55.35 uT
Accel X: 0.15 m/s^2 Y: 2.71 m/s^2 Z: 10.74 m/s^2
Mag X: 40.03 uT Y: 26.75 uT Z: -55.60 uT
Accel X: -0.38 m/s^2 Y: 3.48 m/s^2 Z: 9.24 m/s^2
Mag X: 40.46 uT Y: 23.50 uT Z: -56.02 uT
Accel X: -0.96 m/s^2 Y: 4.06 m/s^2 Z: 8.62 m/s^2
Mag X: 39.54 uT Y: 17.87 uT Z: -55.45 uT
Accel X: -0.58 m/s^2 Y: 6.27 m/s^2 Z: 7.41 m/s^2
Mag X: 39.64 uT Y: 9.12 uT Z: -53.86 uT
Accel X: -0.27 m/s^2 Y: 7.50 m/s^2 Z: 6.48 m/s^2
Mag X: 40.05 uT Y: 0.76 uT Z: -51.36 uT
Accel X: -0.58 m/s^2 Y: 8.22 m/s^2 Z: 4.97 m/s^2
Mag X: 40.91 uT Y: -6.75 uT Z: -45.95 uT
Accel X: 0.12 m/s^2 Y: 9.99 m/s^2 Z: 1.76 m/s^2
Mag X: 42.84 uT Y: -14.22 uT Z: -37.42 uT
Accel X: 0.67 m/s^2 Y: 9.76 m/s^2 Z: 0.39 m/s^2
Mag X: 46.35 uT Y: -16.72 uT Z: -31.45 uT
Accel X: 1.82 m/s^2 Y: 10.07 m/s^2 Z: -0.34 m/s^2
Mag X: 50.10 uT Y: -16.82 uT Z: -27.24 uT
Accel X: 2.61 m/s^2 Y: 8.73 m/s^2 Z: -0.60 m/s^2
Mag X: 54.00 uT Y: -15.77 uT Z: -23.85 uT
Accel X: 4.70 m/s^2 Y: 8.55 m/s^2 Z: -2.66 m/s^2
Mag X: 57.23 uT Y: -14.31 uT Z: -22.04 uT
Accel X: 5.70 m/s^2 Y: 7.97 m/s^2 Z: -3.01 m/s^2
Mag X: 59.89 uT Y: -12.03 uT Z: -19.10 uT
Accel X: 6.00 m/s^2 Y: 7.75 m/s^2 Z: -4.55 m/s^2
Mag X: 62.89 uT Y: -9.31 uT Z: -17.68 uT
Accel X: 6.54 m/s^2 Y: 4.34 m/s^2 Z: -3.38 m/s^2
Mag X: 64.56 uT Y: -7.22 uT Z: -12.99 uT
Accel X: 7.43 m/s^2 Y: 4.01 m/s^2 Z: -4.70 m/s^2
Mag X: 66.53 uT Y: -4.21 uT Z: -11.01 uT
Accel X: 7.58 m/s^2 Y: 2.67 m/s^2 Z: -5.05 m/s^2
Mag X: 67.96 uT Y: -0.99 uT Z: -9.41 uT
Accel X: 7.51 m/s^2 Y: 0.47 m/s^2 Z: -4.80 m/s^2
Mag X: 69.19 uT Y: 3.71 uT Z: -6.66 uT
Accel X: 8.67 m/s^2 Y: -0.40 m/s^2 Z: -4.95 m/s^2
Mag X: 71.41 uT Y: 8.89 uT Z: -5.17 uT
Accel X: 8.38 m/s^2 Y: -1.53 m/s^2 Z: -4.28 m/s^2
Mag X: 72.07 uT Y: 12.98 uT Z: -6.77 uT
Accel X: 8.82 m/s^2 Y: -3.31 m/s^2 Z: -3.39 m/s^2
Mag X: 73.37 uT Y: 18.63 uT Z: -7.97 uT
Accel X: 8.72 m/s^2 Y: -4.05 m/s^2 Z: -1.45 m/s^2
Mag X: 73.17 uT Y: 23.66 uT Z: -11.08 uT
Accel X: 7.77 m/s^2 Y: -5.22 m/s^2 Z: -0.10 m/s^2
Mag X: 72.49 uT Y: 29.10 uT Z: -15.05 uT
Accel X: 7.24 m/s^2 Y: -6.83 m/s^2 Z: 1.29 m/s^2
Mag X: 71.46 uT Y: 34.16 uT Z: -18.71 uT
Accel X: 6.41 m/s^2 Y: -7.40 m/s^2 Z: 2.74 m/s^2
Mag X: 69.44 uT Y: 36.35 uT Z: -24.48 uT
Accel X: 6.33 m/s^2 Y: -5.48 m/s^2 Z: 3.98 m/s^2
Mag X: 68.40 uT Y: 37.36 uT Z: -27.49 uT
Accel X: 6.85 m/s^2 Y: -5.06 m/s^2 Z: 4.99 m/s^2
Mag X: 67.86 uT Y: 34.86 uT Z: -31.41 uT
Accel X: 6.03 m/s^2 Y: -4.03 m/s^2 Z: 5.73 m/s^2
Mag X: 66.68 uT Y: 32.04 uT Z: -34.61 uT
Accel X: 5.65 m/s^2 Y: -4.21 m/s^2 Z: 6.72 m/s^2
Mag X: 66.12 uT Y: 29.51 uT Z: -36.45 uT
Accel X: 5.66 m/s^2 Y: -1.10 m/s^2 Z: 8.00 m/s^2
Mag X: 65.71 uT Y: 31.23 uT Z: -35.40 uT
Accel X: 4.56 m/s^2 Y: -3.21 m/s^2 Z: 6.53 m/s^2
Mag X: 64.83 uT Y: 30.43 uT Z: -37.46 uT
Accel X: 4.44 m/s^2 Y: -2.40 m/s^2 Z: 8.15 m/s^2
Mag X: 63.78 uT Y: 27.57 uT Z: -40.34 uT
Accel X: 2.82 m/s^2 Y: -2.57 m/s^2 Z: 6.61 m/s^2
Mag X: 59.88 uT Y: 26.41 uT Z: -45.35 uT
Accel X: 3.30 m/s^2 Y: -2.79 m/s^2 Z: 9.09 m/s^2
Mag X: 57.02 uT Y: 26.00 uT Z: -47.03 uT
Accel X: 2.42 m/s^2 Y: -1.66 m/s^2 Z: 9.81 m/s^2
Mag X: 54.30 uT Y: 26.22 uT Z: -48.79 uT
Accel X: 0.29 m/s^2 Y: -0.24 m/s^2 Z: 9.60 m/s^2
Mag X: 49.82 uT Y: 28.15 uT Z: -52.41 uT
Accel X: -1.09 m/s^2 Y: -2.52 m/s^2 Z: 9.80 m/s^2
Mag X: 41.95 uT Y: 33.43 uT Z: -54.78 uT
Accel X: -2.65 m/s^2 Y: -2.08 m/s^2 Z: 9.71 m/s^2
Mag X: 34.03 uT Y: 35.88 uT Z: -55.10 uT
Accel X: -3.57 m/s^2 Y: -1.30 m/s^2 Z: 8.46 m/s^2
Mag X: 29.20 uT Y: 37.93 uT Z: -55.39 uT
Accel X: -4.99 m/s^2 Y: -2.28 m/s^2 Z: 8.14 m/s^2
Mag X: 25.29 uT Y: 40.53 uT Z: -54.09 uT
Accel X: -5.15 m/s^2 Y: -3.17 m/s^2 Z: 8.21 m/s^2
Mag X: 22.89 uT Y: 42.69 uT Z: -53.62 uT
Accel X: -5.57 m/s^2 Y: -3.09 m/s^2 Z: 8.24 m/s^2
Mag X: 21.16 uT Y: 43.57 uT Z: -52.97 uT
Accel X: -6.50 m/s^2 Y: -2.51 m/s^2 Z: 6.42 m/s^2
Mag X: 17.16 uT Y: 43.60 uT Z: -52.46 uT
Accel X: -6.42 m/s^2 Y: -1.33 m/s^2 Z: 5.00 m/s^2
Mag X: 10.16 uT Y: 43.79 uT Z: -49.24 uT
Accel X: -7.73 m/s^2 Y: -3.01 m/s^2 Z: 5.09 m/s^2
Mag X: 5.64 uT Y: 45.48 uT Z: -46.20 uT
Accel X: -8.04 m/s^2 Y: -2.55 m/s^2 Z: 3.29 m/s^2
Mag X: 1.07 uT Y: 46.14 uT Z: -42.78 uT
Accel X: -9.02 m/s^2 Y: -3.43 m/s^2 Z: 2.93 m/s^2
Mag X: -2.18 uT Y: 47.41 uT Z: -39.84 uT
Accel X: -8.96 m/s^2 Y: -3.42 m/s^2 Z: 2.52 m/s^2
Mag X: -3.64 uT Y: 48.64 uT Z: -36.54 uT
Accel X: -9.71 m/s^2 Y: -3.60 m/s^2 Z: 1.30 m/s^2
Mag X: -4.50 uT Y: 50.66 uT Z: -32.67 uT
Accel X: -9.88 m/s^2 Y: -3.72 m/s^2 Z: 0.58 m/s^2
Mag X: -5.55 uT Y: 52.60 uT Z: -30.30 uT
Accel X: -9.35 m/s^2 Y: -3.13 m/s^2 Z: -1.64 m/s^2
Mag X: -4.63 uT Y: 54.47 uT Z: -27.92 uT
Accel X: -8.55 m/s^2 Y: -4.37 m/s^2 Z: -0.41 m/s^2
Mag X: -3.68 uT Y: 57.61 uT Z: -25.39 uT
Accel X: -8.43 m/s^2 Y: -5.44 m/s^2 Z: -1.92 m/s^2
Mag X: -3.74 uT Y: 58.67 uT Z: -21.82 uT
Accel X: -7.84 m/s^2 Y: -5.96 m/s^2 Z: -2.35 m/s^2
Mag X: -1.45 uT Y: 60.79 uT Z: -18.68 uT
Accel X: -6.70 m/s^2 Y: -5.59 m/s^2 Z: -3.63 m/s^2
Mag X: 1.84 uT Y: 62.57 uT Z: -14.59 uT
Accel X: -7.10 m/s^2 Y: -6.50 m/s^2 Z: -4.46 m/s^2
Mag X: 6.02 uT Y: 64.72 uT Z: -11.40 uT
Accel X: -6.00 m/s^2 Y: -5.64 m/s^2 Z: -4.94 m/s^2
Mag X: 7.03 uT Y: 64.50 uT Z: -9.81 uT
Accel X: -5.61 m/s^2 Y: -6.32 m/s^2 Z: -5.42 m/s^2
Mag X: 7.88 uT Y: 64.62 uT Z: -9.75 uT
Accel X: -5.84 m/s^2 Y: -6.50 m/s^2 Z: -4.85 m/s^2
Mag X: 8.32 uT Y: 64.54 uT Z: -12.07 uT
Accel X: -5.70 m/s^2 Y: -6.41 m/s^2 Z: -5.27 m/s^2
Mag X: 3.81 uT Y: 64.45 uT Z: -12.20 uT
Accel X: -5.36 m/s^2 Y: -6.88 m/s^2 Z: -4.88 m/s^2
Mag X: 8.18 uT Y: 64.86 uT Z: -11.59 uT
Accel X: -5.20 m/s^2 Y: -6.87 m/s^2 Z: -4.97 m/s^2
Mag X: 9.63 uT Y: 65.05 uT Z: -11.03 uT
Accel X: -3.86 m/s^2 Y: -6.97 m/s^2 Z: -5.92 m/s^2
Mag X: 12.72 uT Y: 65.78 uT Z: -10.80 uT
Accel X: -3.33 m/s^2 Y: -6.96 m/s^2 Z: -5.20 m/s^2
Mag X: 16.57 uT Y: 66.30 uT Z: -9.47 uT
Accel X: -3.49 m/s^2 Y: -6.50 m/s^2 Z: -6.21 m/s^2
Mag X: 19.56 uT Y: 64.95 uT Z: -6.56 uT
Accel X: -2.41 m/s^2 Y: -5.61 m/s^2 Z: -7.34 m/s^2
Mag X: 23.24 uT Y: 63.64 uT Z: -2.44 uT
Accel X: -1.97 m/s^2 Y: -5.26 m/s^2 Z: -8.18 m/s^2
Mag X: 26.95 uT Y: 62.41 uT Z: -0.48 uT
Accel X: -1.45 m/s^2 Y: -4.90 m/s^2 Z: -8.68 m/s^2
Mag X: 28.60 uT Y: 60.93 uT Z: 1.36 uT
Accel X: -1.53 m/s^2 Y: -4.31 m/s^2 Z: -9.27 m/s^2
Mag X: 30.31 uT Y: 60.23 uT Z: 2.25 uT
Accel X: -0.56 m/s^2 Y: -3.27 m/s^2 Z: -9.47 m/s^2
Mag X: 31.91 uT Y: 58.80 uT Z: 3.68 uT
Accel X: -0.68 m/s^2 Y: -3.18 m/s^2 Z: -8.70 m/s^2
Mag X: 32.71 uT Y: 57.70 uT Z: 4.46 uT
Accel X: -0.93 m/s^2 Y: -2.07 m/s^2 Z: -9.66 m/s^2
Mag X: 34.11 uT Y: 57.56 uT Z: 3.62 uT
Accel X: -0.85 m/s^2 Y: -3.00 m/s^2 Z: -9.87 m/s^2
Mag X: 35.68 uT Y: 57.82 uT Z: 1.20 uT
Accel X: -0.81 m/s^2 Y: -3.69 m/s^2 Z: -9.42 m/s^2
Mag X: 34.77 uT Y: 57.75 uT Z: 1.51 uT
Accel X: -1.76 m/s^2 Y: -4.89 m/s^2 Z: -7.95 m/s^2
Mag X: 32.43 uT Y: 59.18 uT Z: -2.85 uT
Accel X: -2.90 m/s^2 Y: -6.37 m/s^2 Z: -6.31 m/s^2
Mag X: 29.39 uT Y: 61.24 uT Z: -4.40 uT
Accel X: -2.99 m/s^2 Y: -7.43 m/s^2 Z: -4.62 m/s^2
Mag X: 25.53 uT Y: 63.78 uT Z: -8.24 uT
Accel X: -4.81 m/s^2 Y: -8.65 m/s^2 Z: -3.12 m/s^2
Mag X: 21.94 uT Y: 66.56 uT Z: -16.41 uT
Accel X: -5.84 m/s^2 Y: -8.84 m/s^2 Z: -1.19 m/s^2
Mag X: 18.40 uT Y: 65.84 uT Z: -23.79 uT
Accel X: -6.75 m/s^2 Y: -9.35 m/s^2 Z: 2.58 m/s^2
Mag X: 16.09 uT Y: 62.39 uT Z: -33.19 uT
Accel X: -6.76 m/s^2 Y: -7.00 m/s^2 Z: 5.87 m/s^2
Mag X: 17.07 uT Y: 54.75 uT Z: -45.07 uT
Accel X: -5.68 m/s^2 Y: -2.55 m/s^2 Z: 7.56 m/s^2
Mag X: 20.27 uT Y: 43.70 uT Z: -52.73 uT
Accel X: -5.08 m/s^2 Y: -2.38 m/s^2 Z: 7.70 m/s^2
Mag X: 23.97 uT Y: 37.91 uT Z: -55.50 uT
Accel X: -3.08 m/s^2 Y: -3.23 m/s^2 Z: 9.12 m/s^2
Mag X: 29.32 uT Y: 34.99 uT Z: -56.87 uT
Accel X: -1.37 m/s^2 Y: -1.55 m/s^2 Z: 9.67 m/s^2
Mag X: 37.04 uT Y: 29.80 uT Z: -57.02 uT
Accel X: -0.32 m/s^2 Y: -0.55 m/s^2 Z: 9.05 m/s^2
Mag X: 44.71 uT Y: 25.81 uT Z: -55.33 uT
Accel X: 0.47 m/s^2 Y: -0.62 m/s^2 Z: 9.97 m/s^2
Mag X: 48.77 uT Y: 23.76 uT Z: -53.83 uT
Accel X: 2.01 m/s^2 Y: -0.18 m/s^2 Z: 10.51 m/s^2
Mag X: 53.98 uT Y: 19.99 uT Z: -50.25 uT
Accel X: 4.36 m/s^2 Y: -0.53 m/s^2 Z: 9.33 m/s^2
Mag X: 58.42 uT Y: 20.93 uT Z: -46.04 uT
Accel X: 6.14 m/s^2 Y: -0.25 m/s^2 Z: 7.81 m/s^2
Mag X: 64.75 uT Y: 21.28 uT Z: -40.54 uT
Accel X: 6.90 m/s^2 Y: -1.00 m/s^2 Z: 8.22 m/s^2
Mag X: 69.76 uT Y: 22.76 uT Z: -31.96 uT
Accel X: 8.14 m/s^2 Y: 0.02 m/s^2 Z: 5.18 m/s^2
Mag X: 71.63 uT Y: 24.42 uT Z: -25.77 uT
Accel X: 9.29 m/s^2 Y: -0.49 m/s^2 Z: 4.16 m/s^2
Mag X: 72.96 uT Y: 25.29 uT Z: -12.77 uT
Accel X: 9.54 m/s^2 Y: -0.87 m/s^2 Z: 0.86 m/s^2
Mag X: 71.41 uT Y: 23.00 uT Z: -3.26 uT
Accel X: 9.73 m/s^2 Y: -1.01 m/s^2 Z: -0.71 m/s^2
Mag X: 66.09 uT Y: 20.93 uT Z: 8.97 uT
Accel X: 7.37 m/s^2 Y: -0.27 m/s^2 Z: -4.80 m/s^2
Mag X: 59.56 uT Y: 19.07 uT Z: 17.23 uT
Accel X: 6.96 m/s^2 Y: -0.15 m/s^2 Z: -6.73 m/s^2
Mag X: 50.66 uT Y: 18.59 uT Z: 22.93 uT
Accel X: 4.79 m/s^2 Y: 0.03 m/s^2 Z: -7.30 m/s^2
Mag X: 40.66 uT Y: 18.50 uT Z: 26.92 uT
Accel X: 3.87 m/s^2 Y: 0.03 m/s^2 Z: -8.95 m/s^2
Mag X: 32.13 uT Y: 18.94 uT Z: 28.69 uT
Accel X: 3.06 m/s^2 Y: 0.42 m/s^2 Z: -10.11 m/s^2
Mag X: 24.92 uT Y: 19.38 uT Z: 29.07 uT
Accel X: 1.36 m/s^2 Y: 0.70 m/s^2 Z: -9.65 m/s^2
Mag X: 17.42 uT Y: 18.39 uT Z: 27.49 uT
Accel X: -0.06 m/s^2 Y: 0.20 m/s^2 Z: -10.17 m/s^2
Mag X: 11.79 uT Y: 17.82 uT Z: 25.78 uT
Accel X: -0.98 m/s^2 Y: 0.61 m/s^2 Z: -9.63 m/s^2
Mag X: 7.44 uT Y: 18.06 uT Z: 23.55 uT
Accel X: -2.43 m/s^2 Y: 1.18 m/s^2 Z: -10.33 m/s^2
Mag X: 3.90 uT Y: 16.46 uT Z: 22.10 uT
Accel X: -2.91 m/s^2 Y: 0.40 m/s^2 Z: -9.80 m/s^2
Mag X: 0.99 uT Y: 15.48 uT Z: 18.31 uT
Accel X: -3.69 m/s^2 Y: 0.47 m/s^2 Z: -8.94 m/s^2
Mag X: -1.67 uT Y: 15.04 uT Z: 16.91 uT
Accel X: -4.02 m/s^2 Y: 0.91 m/s^2 Z: -10.52 m/s^2
Mag X: -3.36 uT Y: 14.18 uT Z: 14.15 uT
Accel X: -4.21 m/s^2 Y: 0.22 m/s^2 Z: -9.11 m/s^2
Mag X: -5.17 uT Y: 14.67 uT Z: 13.52 uT
Accel X: -4.69 m/s^2 Y: 0.17 m/s^2 Z: -8.48 m/s^2
Mag X: -5.50 uT Y: 15.49 uT Z: 13.37 uT
Accel X: -5.02 m/s^2 Y: 0.26 m/s^2 Z: -8.67 m/s^2
Mag X: -5.63 uT Y: 16.16 uT Z: 12.38 uT
Accel X: -5.89 m/s^2 Y: 0.15 m/s^2 Z: -8.08 m/s^2
Mag X: -5.77 uT Y: 16.50 uT Z: 12.28 uT
Accel X: -5.68 m/s^2 Y: -0.03 m/s^2 Z: -7.37 m/s^2
Mag X: -6.61 uT Y: 16.65 uT Z: 12.36 uT
Accel X: -5.16 m/s^2 Y: 0.28 m/s^2 Z: -8.46 m/s^2
Mag X: -6.43 uT Y: 16.38 uT Z: 11.58 uT
Accel X: -5.41 m/s^2 Y: -0.85 m/s^2 Z: -8.63 m/s^2
Mag X: -6.61 uT Y: 16.54 uT Z: 11.68 uT
Accel X: -5.53 m/s^2 Y: -1.01 m/s^2 Z: -8.82 m/s^2
Mag X: -6.97 uT Y: 16.22 uT Z: 11.47 uT
Accel X: -5.93 m/s^2 Y: -0.83 m/s^2 Z: -7.74 m/s^2
Mag X: -7.23 uT Y: 16.18 uT Z: 10.79 uT
Accel X: -5.71 m/s^2 Y: -1.30 m/s^2 Z: -8.48 m/s^2
Mag X: -7.32 uT Y: 15.74 uT Z: 10.95 uT
Accel X: -5.38 m/s^2 Y: -0.52 m/s^2 Z: -8.47 m/s^2
Mag X: -6.66 uT Y: 12.66 uT Z: 10.08 uT
Accel X: -5.93 m/s^2 Y: 0.24 m/s^2 Z: -8.74 m/s^2
Mag X: -7.10 uT Y: 10.82 uT Z: 7.94 uT
Accel X: -8.21 m/s^2 Y: 1.55 m/s^2 Z: -6.78 m/s^2
Mag X: -8.26 uT Y: 7.07 uT Z: 2.28 uT
Accel X: -7.34 m/s^2 Y: 1.70 m/s^2 Z: -6.24 m/s^2
Mag X: -7.95 uT Y: 2.85 uT Z: -3.73 uT
Accel X: -7.84 m/s^2 Y: 3.72 m/s^2 Z: -5.12 m/s^2
Mag X: -9.53 uT Y: 3.01 uT Z: -7.22 uT
Accel X: -8.44 m/s^2 Y: 4.31 m/s^2 Z: -4.67 m/s^2
Mag X: -9.41 uT Y: 2.70 uT Z: -13.14 uT
Accel X: -8.64 m/s^2 Y: 4.59 m/s^2 Z: -3.13 m/s^2
Mag X: -8.67 uT Y: 0.41 uT Z: -17.77 uT
Accel X: -8.36 m/s^2 Y: 5.78 m/s^2 Z: -1.37 m/s^2
Mag X: -7.06 uT Y: -0.23 uT Z: -23.21 uT
Accel X: -8.06 m/s^2 Y: 5.31 m/s^2 Z: 0.17 m/s^2
Mag X: -2.56 uT Y: -2.43 uT Z: -31.98 uT
Accel X: -7.45 m/s^2 Y: 6.60 m/s^2 Z: 1.41 m/s^2
Mag X: 2.98 uT Y: -3.51 uT Z: -37.65 uT
Accel X: -6.14 m/s^2 Y: 5.79 m/s^2 Z: 2.70 m/s^2
Mag X: 7.97 uT Y: -2.10 uT Z: -43.07 uT
Accel X: -6.24 m/s^2 Y: 7.30 m/s^2 Z: 3.93 m/s^2
Mag X: 12.95 uT Y: -0.80 uT Z: -47.02 uT
Accel X: -5.68 m/s^2 Y: 6.08 m/s^2 Z: 3.66 m/s^2
Mag X: 14.10 uT Y: 1.49 uT Z: -48.41 uT
Accel X: -5.56 m/s^2 Y: 6.28 m/s^2 Z: 6.81 m/s^2
Mag X: 18.74 uT Y: 4.18 uT Z: -51.83 uT
Accel X: -5.08 m/s^2 Y: 4.38 m/s^2 Z: 6.14 m/s^2
Mag X: 21.38 uT Y: 9.95 uT Z: -55.35 uT
Accel X: -4.12 m/s^2 Y: 3.81 m/s^2 Z: 7.91 m/s^2
Mag X: 25.86 uT Y: 14.85 uT Z: -56.94 uT
Accel X: -3.44 m/s^2 Y: 3.15 m/s^2 Z: 8.44 m/s^2
Mag X: 29.25 uT Y: 18.04 uT Z: -57.76 uT
Accel X: -2.64 m/s^2 Y: 1.97 m/s^2 Z: 9.03 m/s^2
Mag X: 32.78 uT Y: 22.70 uT Z: -58.77 uT
Accel X: -1.54 m/s^2 Y: 2.05 m/s^2 Z: 10.95 m/s^2
Mag X: 36.95 uT Y: 27.70 uT Z: -56.99 uT
Accel X: -0.97 m/s^2 Y: -0.07 m/s^2 Z: 9.61 m/s^2
Mag X: 38.92 uT Y: 31.13 uT Z: -55.28 uT
Accel X: -0.58 m/s^2 Y: -0.09 m/s^2 Z: 9.67 m/s^2
Mag X: 40.44 uT Y: 32.86 uT Z: -54.88 uT
Accel X: -0.83 m/s^2 Y: 2.06 m/s^2 Z: 10.43 m/s^2
Mag X: 40.24 uT Y: 29.87 uT Z: -56.07 uT
Accel X: -0.87 m/s^2 Y: 2.07 m/s^2 Z: 9.03 m/s^2
Mag X: 39.75 uT Y: 21.86 uT Z: -55.82 uT
Accel X: -1.10 m/s^2 Y: 4.23 m/s^2 Z: 8.28 m/s^2
Mag X: 38.23 uT Y: 13.39 uT Z: -55.35 uT
Accel X: -1.54 m/s^2 Y: 7.08 m/s^2 Z: 6.66 m/s^2
Mag X: 36.99 uT Y: 5.41 uT Z: -52.91 uT
Accel X: -1.75 m/s^2 Y: 7.70 m/s^2 Z: 6.68 m/s^2
Mag X: 36.17 uT Y: -2.03 uT Z: -49.37 uT
Accel X: -1.13 m/s^2 Y: 9.62 m/s^2 Z: 4.69 m/s^2
Mag X: 35.38 uT Y: -9.11 uT Z: -43.85 uT
Accel X: -0.68 m/s^2 Y: 8.50 m/s^2 Z: 2.12 m/s^2
Mag X: 36.29 uT Y: -14.44 uT Z: -36.85 uT
Accel X: -0.78 m/s^2 Y: 9.73 m/s^2 Z: 0.28 m/s^2
Mag X: 36.93 uT Y: -17.80 uT Z: -29.96 uT
Accel X: -0.63 m/s^2 Y: 9.01 m/s^2 Z: -1.29 m/s^2
Mag X: 38.26 uT Y: -20.33 uT Z: -20.36 uT
Accel X: 1.03 m/s^2 Y: 8.16 m/s^2 Z: -4.57 m/s^2
Mag X: 41.19 uT Y: -20.18 uT Z: -10.68 uT
Accel X: 1.41 m/s^2 Y: 7.05 m/s^2 Z: -5.90 m/s^2
Mag X: 42.75 uT Y: -18.65 uT Z: -4.36 uT
Accel X: 2.80 m/s^2 Y: 7.09 m/s^2 Z: -8.06 m/s^2
Mag X: 47.38 uT Y: -14.07 uT Z: 3.89 uT
Accel X: 3.29 m/s^2 Y: 5.48 m/s^2 Z: -9.77 m/s^2
Mag X: 49.78 uT Y: -8.96 uT Z: 8.89 uT
Accel X: 2.91 m/s^2 Y: 3.80 m/s^2 Z: -8.63 m/s^2
Mag X: 49.85 uT Y: -5.58 uT Z: 12.23 uT
Accel X: 2.59 m/s^2 Y: 0.64 m/s^2 Z: -7.17 m/s^2
Mag X: 49.99 uT Y: -1.39 uT Z: 15.62 uT
Accel X: 2.98 m/s^2 Y: 1.79 m/s^2 Z: -8.66 m/s^2
Mag X: 51.61 uT Y: 2.24 uT Z: 17.82 uT
Accel X: 3.33 m/s^2 Y: 0.62 m/s^2 Z: -8.44 m/s^2
Mag X: 52.51 uT Y: 4.44 uT Z: 17.49 uT
Accel X: 3.55 m/s^2 Y: -0.84 m/s^2 Z: -9.77 m/s^2
Mag X: 55.57 uT Y: 9.05 uT Z: 17.87 uT
Accel X: 4.45 m/s^2 Y: -1.10 m/s^2 Z: -10.72 m/s^2
Mag X: 56.85 uT Y: 17.52 uT Z: 18.15 uT
Accel X: 4.29 m/s^2 Y: -4.22 m/s^2 Z: -7.61 m/s^2
Mag X: 57.21 uT Y: 26.56 uT Z: 17.82 uT
Accel X: 4.02 m/s^2 Y: -5.38 m/s^2 Z: -6.72 m/s^2
Mag X: 57.99 uT Y: 33.91 uT Z: 16.16 uT
Accel X: 4.21 m/s^2 Y: -7.03 m/s^2 Z: -6.44 m/s^2
Mag X: 58.48 uT Y: 39.59 uT Z: 13.56 uT
Accel X: 4.33 m/s^2 Y: -8.21 m/s^2 Z: -4.01 m/s^2
Mag X: 58.29 uT Y: 44.65 uT Z: 10.16 uT
Accel X: 4.49 m/s^2 Y: -10.23 m/s^2 Z: -2.57 m/s^2
Mag X: 60.44 uT Y: 47.16 uT Z: 4.00 uT
Accel X: 4.79 m/s^2 Y: -8.64 m/s^2 Z: -1.30 m/s^2
Mag X: 60.84 uT Y: 51.48 uT Z: -1.49 uT
Accel X: 4.52 m/s^2 Y: -8.62 m/s^2 Z: 0.68 m/s^2
Mag X: 61.06 uT Y: 53.13 uT Z: -8.49 uT
Accel X: 3.83 m/s^2 Y: -8.17 m/s^2 Z: 3.35 m/s^2
Mag X: 61.53 uT Y: 53.14 uT Z: -15.20 uT
Accel X: 4.34 m/s^2 Y: -9.69 m/s^2 Z: 3.34 m/s^2
Mag X: 61.82 uT Y: 51.67 uT Z: -22.92 uT
Accel X: 3.76 m/s^2 Y: -6.13 m/s^2 Z: 4.82 m/s^2
Mag X: 59.98 uT Y: 50.95 uT Z: -29.54 uT
Accel X: 3.19 m/s^2 Y: -6.62 m/s^2 Z: 6.83 m/s^2
Mag X: 58.73 uT Y: 48.80 uT Z: -34.04 uT
Accel X: 2.90 m/s^2 Y: -5.66 m/s^2 Z: 8.15 m/s^2
Mag X: 57.34 uT Y: 45.86 uT Z: -38.97 uT
Accel X: 2.65 m/s^2 Y: -4.43 m/s^2 Z: 8.17 m/s^2
Mag X: 55.54 uT Y: 43.57 uT Z: -43.31 uT
Accel X: 1.63 m/s^2 Y: -2.47 m/s^2 Z: 8.38 m/s^2
Mag X: 52.85 uT Y: 40.11 uT Z: -47.21 uT
Accel X: 0.99 m/s^2 Y: -2.56 m/s^2 Z: 8.76 m/s^2
Mag X: 50.96 uT Y: 37.36 uT Z: -49.52 uT
Accel X: 0.75 m/s^2 Y: -0.97 m/s^2 Z: 9.55 m/s^2
Mag X: 49.06 uT Y: 34.80 uT Z: -50.53 uT
Accel X: 0.03 m/s^2 Y: 0.23 m/s^2 Z: 8.95 m/s^2
Mag X: 46.74 uT Y: 31.80 uT Z: -52.75 uT
Accel X: -0.08 m/s^2 Y: -0.30 m/s^2 Z: 9.01 m/s^2
Mag X: 44.67 uT Y: 33.05 uT Z: -52.85 uT
Accel X: -1.23 m/s^2 Y: -1.66 m/s^2 Z: 9.14 m/s^2
Mag X: 41.00 uT Y: 37.08 uT Z: -53.33 uT
Accel X: -2.39 m/s^2 Y: -2.07 m/s^2 Z: 8.68 m/s^2
Mag X: 35.09 uT Y: 42.14 uT Z: -53.08 uT
Accel X: -3.71 m/s^2 Y: -3.26 m/s^2 Z: 8.38 m/s^2
Mag X: 29.36 uT Y: 45.81 uT Z: -51.94 uT
Accel X: -4.81 m/s^2 Y: -3.29 m/s^2 Z: 7.47 m/s^2
Mag X: 24.79 uT Y: 48.33 uT Z: -50.35 uT
Accel X: -4.89 m/s^2 Y: -3.92 m/s^2 Z: 7.47 m/s^2
Mag X: 21.56 uT Y: 50.15 uT Z: -49.56 uT
Accel X: -6.16 m/s^2 Y: -4.12 m/s^2 Z: 6.07 m/s^2
Mag X: 18.44 uT Y: 50.67 uT Z: -47.85 uT
Accel X: -6.31 m/s^2 Y: -4.56 m/s^2 Z: 6.21 m/s^2
Mag X: 16.53 uT Y: 52.18 uT Z: -46.43 uT
Accel X: -6.27 m/s^2 Y: -4.04 m/s^2 Z: 6.26 m/s^2
Mag X: 15.68 uT Y: 50.99 uT Z: -46.99 uT
Accel X: -6.76 m/s^2 Y: -4.21 m/s^2 Z: 5.61 m/s^2
Mag X: 15.54 uT Y: 50.16 uT Z: -47.15 uT
Accel X: -6.71 m/s^2 Y: -4.16 m/s^2 Z: 5.48 m/s^2
Mag X: 14.70 uT Y: 49.40 uT Z: -47.46 uT
Accel X: -6.74 m/s^2 Y: -4.03 m/s^2 Z: 6.44 m/s^2
Mag X: 15.52 uT Y: 47.92 uT Z: -48.11 uT
Accel X: -5.74 m/s^2 Y: -3.18 m/s^2 Z: 7.44 m/s^2
Mag X: 17.98 uT Y: 42.44 uT Z: -52.46 uT
Accel X: -4.47 m/s^2 Y: 0.81 m/s^2 Z: 8.36 m/s^2
Mag X: 22.87 uT Y: 28.41 uT Z: -56.84 uT
Accel X: -4.44 m/s^2 Y: 2.19 m/s^2 Z: 7.98 m/s^2
Mag X: 26.07 uT Y: 19.47 uT Z: -57.00 uT
Accel X: -3.82 m/s^2 Y: 3.61 m/s^2 Z: 7.84 m/s^2
Mag X: 29.00 uT Y: 9.62 uT Z: -54.24 uT
Accel X: -3.22 m/s^2 Y: 4.97 m/s^2 Z: 7.85 m/s^2
Mag X: 33.00 uT Y: 1.75 uT Z: -51.18 uT
Accel X: -3.04 m/s^2 Y: 6.32 m/s^2 Z: 7.10 m/s^2
Mag X: 34.33 uT Y: -3.24 uT Z: -48.14 uT
Accel X: -2.59 m/s^2 Y: 6.12 m/s^2 Z: 7.00 m/s^2
Mag X: 37.09 uT Y: -3.70 uT Z: -47.49 uT
Accel X: -0.78 m/s^2 Y: 5.84 m/s^2 Z: 8.02 m/s^2
Mag X: 42.82 uT Y: -2.06 uT Z: -47.40 uT
Accel X: 0.32 m/s^2 Y: 5.87 m/s^2 Z: 8.06 m/s^2
Mag X: 47.87 uT Y: 0.50 uT Z: -46.70 uT
Accel X: 1.28 m/s^2 Y: 4.72 m/s^2 Z: 8.03 m/s^2
Mag X: 51.20 uT Y: 4.02 uT Z: -46.77 uT
Accel X: 2.63 m/s^2 Y: 3.12 m/s^2 Z: 9.05 m/s^2
Mag X: 55.36 uT Y: 10.89 uT Z: -47.44 uT
Accel X: 3.31 m/s^2 Y: 1.67 m/s^2 Z: 9.57 m/s^2
Mag X: 59.38 uT Y: 17.95 uT Z: -44.77 uT
Accel X: 3.96 m/s^2 Y: 0.20 m/s^2 Z: 8.57 m/s^2
Mag X: 61.87 uT Y: 23.95 uT Z: -42.62 uT
Accel X: 4.78 m/s^2 Y: -1.11 m/s^2 Z: 8.46 m/s^2
Mag X: 63.87 uT Y: 30.49 uT Z: -39.30 uT
Accel X: 5.37 m/s^2 Y: -2.71 m/s^2 Z: 8.05 m/s^2
Mag X: 64.53 uT Y: 35.68 uT Z: -35.97 uT
Accel X: 5.16 m/s^2 Y: -4.03 m/s^2 Z: 7.47 m/s^2
Mag X: 63.80 uT Y: 42.66 uT Z: -32.46 uT
Accel X: 4.60 m/s^2 Y: -6.04 m/s^2 Z: 5.68 m/s^2
Mag X: 61.78 uT Y: 49.11 uT Z: -26.43 uT
Accel X: 3.85 m/s^2 Y: -7.45 m/s^2 Z: 4.24 m/s^2
Mag X: 58.93 uT Y: 54.88 uT Z: -20.33 uT
Accel X: 2.94 m/s^2 Y: -8.90 m/s^2 Z: 2.81 m/s^2
Mag X: 57.85 uT Y: 56.91 uT Z: -15.95 uT
Accel X: 2.73 m/s^2 Y: -8.45 m/s^2 Z: 2.40 m/s^2
Mag X: 56.14 uT Y: 58.20 uT Z: -13.93 uT
Accel X: 3.30 m/s^2 Y: -8.95 m/s^2 Z: 1.16 m/s^2
Mag X: 56.40 uT Y: 58.62 uT Z: -11.87 uT
Accel X: 2.80 m/s^2 Y: -9.86 m/s^2 Z: 0.16 m/s^2
Mag X: 56.99 uT Y: 57.26 uT Z: -7.69 uT
Accel X: 2.92 m/s^2 Y: -9.52 m/s^2 Z: -0.37 m/s^2
Mag X: 55.80 uT Y: 57.82 uT Z: -6.42 uT
Accel X: 2.20 m/s^2 Y: -8.94 m/s^2 Z: -1.67 m/s^2
Mag X: 54.19 uT Y: 57.73 uT Z: -1.24 uT
Accel X: 1.90 m/s^2 Y: -8.96 m/s^2 Z: -2.80 m/s^2
Mag X: 52.47 uT Y: 56.20 uT Z: 5.42 uT
Accel X: 2.51 m/s^2 Y: -6.26 m/s^2 Z: -4.77 m/s^2
Mag X: 53.60 uT Y: 43.92 uT Z: 16.41 uT
Accel X: 5.08 m/s^2 Y: -9.97 m/s^2 Z: -12.11 m/s^2
Mag X: 61.59 uT Y: 23.44 uT Z: 15.73 uT
Accel X: 3.48 m/s^2 Y: -0.62 m/s^2 Z: -5.25 m/s^2
Mag X: 55.61 uT Y: 28.15 uT Z: 21.18 uT
Accel X: 1.15 m/s^2 Y: -3.45 m/s^2 Z: -9.93 m/s^2
Mag X: 54.03 uT Y: 33.29 uT Z: 20.53 uT
Accel X: 1.40 m/s^2 Y: -1.52 m/s^2 Z: -9.08 m/s^2
Mag X: 53.64 uT Y: 33.89 uT Z: 20.70 uT
Accel X: 0.95 m/s^2 Y: -3.19 m/s^2 Z: -9.89 m/s^2
Mag X: 54.18 uT Y: 29.09 uT Z: 20.72 uT
Accel X: 2.07 m/s^2 Y: -1.11 m/s^2 Z: -9.98 m/s^2
Mag X: 53.52 uT Y: 25.62 uT Z: 22.71 uT
Accel X: 0.96 m/s^2 Y: -1.54 m/s^2 Z: -9.40 m/s^2
Mag X: 52.50 uT Y: 22.98 uT Z: 23.76 uT
Accel X: 1.28 m/s^2 Y: -1.41 m/s^2 Z: -10.14 m/s^2
Mag X: 52.48 uT Y: 19.57 uT Z: 22.81 uT
Accel X: 0.81 m/s^2 Y: 1.19 m/s^2 Z: -9.31 m/s^2
Mag X: 51.86 uT Y: 13.46 uT Z: 22.30 uT
Accel X: 0.57 m/s^2 Y: 0.69 m/s^2 Z: -10.20 m/s^2
Mag X: 51.64 uT Y: 10.99 uT Z: 22.04 uT
Accel X: 0.35 m/s^2 Y: 2.05 m/s^2 Z: -10.46 m/s^2
Mag X: 51.96 uT Y: 9.38 uT Z: 21.54 uT
Accel X: 0.59 m/s^2 Y: 3.33 m/s^2 Z: -9.53 m/s^2
Mag X: 50.77 uT Y: 6.21 uT Z: 20.42 uT
Accel X: 1.39 m/s^2 Y: 3.77 m/s^2 Z: -9.62 m/s^2
Mag X: 52.28 uT Y: 4.28 uT Z: 19.18 uT
Accel X: 0.86 m/s^2 Y: 3.14 m/s^2 Z: -8.96 m/s^2
Mag X: 52.48 uT Y: 5.79 uT Z: 19.26 uT
Accel X: 2.50 m/s^2 Y: 2.50 m/s^2 Z: -8.80 m/s^2
Mag X: 53.33 uT Y: 9.18 uT Z: 20.46 uT
Accel X: 1.87 m/s^2 Y: 0.87 m/s^2 Z: -9.75 m/s^2
Mag X: 54.75 uT Y: 14.38 uT Z: 21.32 uT
Accel X: 1.59 m/s^2 Y: -1.19 m/s^2 Z: -9.34 m/s^2
Mag X: 53.79 uT Y: 24.39 uT Z: 22.67 uT
Accel X: 1.67 m/s^2 Y: -3.88 m/s^2 Z: -8.29 m/s^2
Mag X: 52.70 uT Y: 35.50 uT Z: 21.03 uT
Accel X: 1.96 m/s^2 Y: -5.73 m/s^2 Z: -7.96 m/s^2
Mag X: 54.47 uT Y: 41.51 uT Z: 16.35 uT
Accel X: 2.66 m/s^2 Y: -6.77 m/s^2 Z: -6.47 m/s^2
Mag X: 55.12 uT Y: 47.57 uT Z: 11.22 uT
Measurements done. Please wait for the calibrator to setup!
Calibration parameters of the magnetometer:
Average magnitude (default Hm) and sigma of 300 vectors = 65.016.5
Hm is set to: 64.95
Correction matrix Ainv, using Hm=65.0:
1.43589 0.03716 -0.00720
0.03716 1.44163 0.02165
-0.00720 0.02165 1.49330
Where Hcalc = Ainv*(H-B)
Code initialization statements...
float B[3] = {28.69,23.06,-14.63};
float Ainv[3][3] = {
{1.43589,0.03716,-0.00720},
{0.03716,1.44163,0.02165},
{-0.00720,0.02165,1.49330}
};
RMS corrected vector length 0.234494
RMS residual 0.996390
Calibration parameters of the accelerometer:
Average magnitude (default Hm) and sigma of 300 vectors = 9.90.7
Hm is set to: 9.86
Correction matrix Ainv, using Hm=9.9:
1.03170 0.01064 0.00913
0.01064 1.00277 -0.01532
0.00913 -0.01532 0.98588
Where Hcalc = Ainv*(H-B)
Code initialization statements...
float B[3] = {-0.14,-0.14,-0.19};
float Ainv[3][3] = {
{1.03170,0.01064,0.00913},
{0.01064,1.00277,-0.01532},
{0.00913,-0.01532,0.98588}
};
RMS corrected vector length 0.048460
RMS residual 0.995087