Question: about the imu data(acc, gyro, mag) which is desynchronized

[mingrenzhu]

hello, I have a question about " can the fution algorithm process the desynchronized imu data ? ", thanks a lot.

[xioTechnologies]

If your sensor measurements are not synchronised then you would call FusionAhrsUpdate for each new gyroscope measurement, with with most recent measurements from the other sensors.

[mingrenzhu]

well, i wonder whether i can do this, i call FusionAhrsUpdate for the new gyroscope, and if gyroscope time is large with acc and mag time, than can i set the acc and mag as zeros vector ?
thank you and hope your reply, cheers!

[xioTechnologies]

You should use the latest accelerometer and magnetometer measurements, even if that means reusing measurements. You should not pass in zero vectors.

[mingrenzhu]

Got it, thanks a lot.