You may have luck using an accelerometer, such as the MOT0100, to directly detect vibrations in the door. You would have to attach the sensor to the door near the hinges to prevent the sensor cable interfering with the operation of the door.
There is a Code Samples tab on the MOT2002 page that allows you to select a programming language and the Hub you are connecting to, which will give you code specific to your use-case to get started.
Thanks for clarifying the question! Knowing what confuses people really helps in improving documentation. I'm seeing there could be confusion between the documentation saying the device assuming it's at rest, and what that means practically. The device never fully disregards the gyroscope. Exceeding...
Please disregard the comment about V104, after more intensive testing, it is completely functional. The problems mentioned above were present in an internal, unreleased build. We revert to recommending V104 at this time. To your earlier question 2: To check if AHRS/IMU parameters are doing anything ...