[KenWittlief]

if you have the eval board version, the output signal is already filtered with a cuttoff around 40Hz.

Question I gotta ask? what sort of angular rate test fixture are you using to produce a steady yaw rate while you monitor the output?

if you are holding the eval board in your hand and twisting your wrist back and forth, then the strange waveform you are seeing is exactly what your wrist is doing.

It would take a pretty expensive test fixture to move the sensor at a steady 75° per second, so that you could see a nice steady signal coming out.

if you try holding it steady in your hand, even that will show a jittery output- thats not sensor noise, thats your shakey hand :c)

I did the same thing with ours - same device - the signal was all over the place when I turned it in my hand.

We mounted it on our bot, closed the loop, and our bot tracks the sensor signal just beautifully - we are adding the signal to an accumulator to create a compass heading, and to steer closed loop we do the same thing with the signal from the X axis of the driver joystick - we divide it by 2, then add it to an accumulator.

This gives us a desired heading (from the accumulated joystick signal) and an actual heading (from the accumulated yaw rate signal)

then we subtracted the one from the other, and use a proportional error signal as our 'commanded' steering (X axis) input to the one joystick equations.

robot steers like its one of the Hitec servos!