Reading quaternion values

[john]

When I read the quaternion values from addresses 109 and 110, the values the UM7 tives are nonsensical.
A always equals 1.0
B, C, and D always equal 0.0

How do I get the IMU to give the actual quaternion values?

[Michael]

Is quaternion mode enabled? Quaternion mode must be turned on for the attitude quaternion to be updated. You can do that from the Configuration tab in the Serial Interface.

[john]

I do not have the serial interface, but should I enable it through setting the quarternion mode bit on address 0x08?

[Michael]

Yeah, that should do it. Be aware that in quaternion mode, the magnetometer can influence all angles – yaw, pitch, and roll, not just yaw.

[Author]

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