Merge pull request #389 from luxonis/imu_device_ts

Add device monotonic timestamp to IMU reports
luxonis · Feb 22, 2022 · 3a2961d · 3a2961d
2 parents e03be4c + 5f54fd1
commit 3a2961d
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Showing 3 changed files with 7 additions and 4 deletions.
diff --git a/cmake/Depthai/DepthaiDeviceSideConfig.cmake b/cmake/Depthai/DepthaiDeviceSideConfig.cmake
@@ -2,7 +2,7 @@
 set(DEPTHAI_DEVICE_SIDE_MATURITY "snapshot")
 
 # "full commit hash of device side binary"
-set(DEPTHAI_DEVICE_SIDE_COMMIT "bfc09cbb3a84193709558b60fbd4adc3d744f361")
+set(DEPTHAI_DEVICE_SIDE_COMMIT "6cc1d0f27df2bb36e003cde20f3923c7246b1018")
 
 # "version if applicable"
 set(DEPTHAI_DEVICE_SIDE_VERSION "")
diff --git a/examples/IMU/imu_gyroscope_accelerometer.cpp b/examples/IMU/imu_gyroscope_accelerometer.cpp
@@ -20,8 +20,11 @@ int main() {
 
     xlinkOut->setStreamName("imu");
 
-    // enable ACCELEROMETER_RAW and GYROSCOPE_RAW at 500 hz rate
-    imu->enableIMUSensor({dai::IMUSensor::ACCELEROMETER_RAW, dai::IMUSensor::GYROSCOPE_RAW}, 500);
+    // enable ACCELEROMETER_RAW at 500 hz rate
+    imu->enableIMUSensor(dai::IMUSensor::ACCELEROMETER_RAW, 500);
+    // enable GYROSCOPE_RAW at 400 hz rate
+    imu->enableIMUSensor(dai::IMUSensor::GYROSCOPE_RAW, 400);
+    // it's recommended to set both setBatchReportThreshold and setMaxBatchReports to 20 when integrating in a pipeline with a lot of input/output connections
     // above this threshold packets will be sent in batch of X, if the host is not blocked and USB bandwidth is available
     imu->setBatchReportThreshold(1);
     // maximum number of IMU packets in a batch, if it's reached device will block sending until host can receive it

diff --git a/shared/depthai-shared b/shared/depthai-shared