IMU fix and rewrite #201
Open
IMU fix and rewrite #201
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…mentation for NED frame and calibration methods
…implementation files
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This pull request introduces a fix to libwallaby related to the IMU. The implementation now correctly reads the accelerometer, gyroscope, and magnetometer data as float buffers.
The IMU readings are now properly captured and converted into the correct units on the STM32 side.
These values are transmitted as floats, improving the accuracy of the IMU data.
libwallaby receives these float values, but to maintain compatibility with botui, it currently truncates the floats and converts them into shorts.
Libwallaby will also try to align the received values with the NED reference frame. This means flipping signs and shifting axis so that the axis are all aligned as one would expect them to be. This has been done according to the data sheet of the mpu9250 accounting for the mounting within the wombat (upside down)
This change is forward-compatible, but to fully benefit from the improved precision, a future update to botui will be required to support float values for IMU data.