[MPU9250] Fix too aggressive magnetometer correction #371

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MrUnknownDE · 2026-04-05T17:52:51+02:00

MrUnknownDE commented

2026-04-05 17:52:51 +02:00

Originally created by @Timocop on 4/13/2022

The MPU9250's magnetometer correction seems to be quite aggressive and creates heavy orientation jitter.
Lowering it to 0.02 reduces the jitter and also corrects itself fast enough for fast movements.
The value probably can be set lower tbh.
Orientation quality seems to be equal with ICM20948 with this change.

Correction with 0.2:
https://user-images.githubusercontent.com/22834512/163219863-1ad64f75-1d44-41eb-87dd-0c5f7cac869f.mp4

Correction with 0.02:
https://user-images.githubusercontent.com/22834512/163221958-8f3071e8-cf10-42e8-a2c5-67b3d6451cf9.mp4

*Originally created by @Timocop on 4/13/2022* The MPU9250's magnetometer correction seems to be quite aggressive and creates heavy orientation jitter. Lowering it to ``0.02`` reduces the jitter and also corrects itself fast enough for fast movements. The value probably can be set lower tbh. Orientation quality seems to be equal with ICM20948 with this change. **Correction with 0.2:** https://user-images.githubusercontent.com/22834512/163219863-1ad64f75-1d44-41eb-87dd-0c5f7cac869f.mp4 **Correction with 0.02:** https://user-images.githubusercontent.com/22834512/163221958-8f3071e8-cf10-42e8-a2c5-67b3d6451cf9.mp4

MrUnknownDE closed this issue

2026-04-05 17:52:51 +02:00

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Reference: github/SlimeVR-Tracker-ESP#371