Hi Mark,
Sorry for so many posts with different questions. and thank you to divide the original post into different threads.
Fist of all, I also modifed EKF_CNFG to 0x0203, and keep the remaining parameters factorty default. The capture test last for about 6 minutes, with only 5 register output captured, i.e., SYS_E_FLAG, X_GYRO(16 bit), Y_GYRO(16 bit), ROLL_C23_OUT, PITCH_C31_OUT.
And here is further description,
5. As I mentioned above, accelerometer, magnetometer are not captured. Asume you are not capturing accelerometer(via EVAL_ADIS), but the accelerometer is overranged, will SYS_E_FLAG[4] be set?
6. OK.
7. I'm not sure, probably you are right. But will it degrade pitch and roll accuracy (ROLL_C23_OUT, PITCH_C31_OUT) by disabling magnetometer?
8. That's right. I'm shaking EVAL_ADIS board dramatically with my hands (I think you can imagine that). so the angular acceleration is about 2.4 degree/sec * 2460 = 5904 degree/s^2, it is a big value, is it possible?
Thanks again for your response.
Zach