Got Sensor Fusion?

[Richard100]

When you were plugged into the 'singular' (On-Board) I2C interface, you likely needed to set the I2C port to "On-Board" in the front panel control of the Demo vi. The I2C Read/Write vi's need to know where to look for your sensor.

When you switched to the MXP I2C port, it was likely connected but you had selected "Config Mode" (reference your screen shot) which may explain why you received a "Bad Result".

Now it sounds like you're configured correctly ... since you're seeing cal status updates. Yes keep trying ... if you're having trouble with the magnetometer calibration move the sensor in all three axes and the mag cal will improve to green. Bosch suggests moving the sensor in a figure-8 pattern. I found that orbiting the sensor in a polar axis followed by an equatorial axis calibrates the Mag quickly.

The 'S' element represents the status of the "System". There's not much explanation from Bosch on this but it appears that the internal Kalman filter needs to build up some agreement between the accel, gyro, and mag for it to reach cal status level 3 (green in our software).

Keep going, you're almost there ... this sensor is unlike many others you come across in FRC - it is highly advanced but takes some initial effort to set it up. The performance is staggering, especially since it's effectively free via the virtual KoP. It's a sweet piece of tech and worth the effort.