Rotation calibration --Gible Lock problem?? (Real life imu)

Hello,

I want to calibrate rotation on avatar joint in real life imu sensor.
For example;
I have imu sensor on my arm and gives me data like tihs:
Quaternion ang = imu.GetQuaternionValue();


Vector3 e1 =ang.eulerAngles;
Debug.log(e1); // (34,53,165)

if(calibrate) //button
CalibrateQuat=ang; //this data shout be referance point (0)


///////////////// next frame


Vector3 e1 = imu.GetQuaternionValue().eulerAngles;
Vector3 e2 = CalibrateQuat.eulerAngles;
Vector3 rotate= e1 - e2; //this not work well, someting like gimble lock problem
RightArm.transform.eulerAngles = rotate;

I can use '-' operator between 2 quaternion , how can i do it?
Or there is another option to calibrate?

Note: imu is bno055 ,it works good. (there is no gimble lock with default data)

 

Don't use eulerAngles. Gimbal lock is only an issue with eulerAngles.You should do something like:

Code (CSharp):

1. if(calibrate)
2.     CalibrateQuat = Quaternion.Inverse(ang);

and later just:

RightArm.transform.rotation = CalibrateQuat * imu.GetQuaternionValue();

You may need to swap the order of the multiplcation around and depending on your needs you may want to use localRotation instead of rotation.

 

thanks but still i have problem