IMU Brick 2.0 and IMU Bricklet heading issue

[RodolphePerrin]

Hi all,

I'm currently using the IMU V2 Brick, as well as an IMU Bricklet  for a mobile robot application.

I placed the IMU on the robot and connected it via USB to the computer. Now, If I turn the robot at a reasonable speed for a 360 turn, I can see the IMU being accurate (when coming back to initial position, the IMU heading goes back to its expected value on the Brick Viewer). However, if I turn slower, I can clearly see that at some point the Euler/Quaternion calculation seems to "freeze", and doesn't realize that the platform is turning. This can affet a lot navigation during turns at slow speed that are not perceived by the robot, to the point that the platform's yaw is really inaccurate.

Do you have any idea where this could come from or what parameters could be changed to remove it and increase heading accuracy ?

Thanks so much !