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IMU: BNO 085/6 support #119

Merged
merged 15 commits into from
Jun 4, 2021
Merged

IMU: BNO 085/6 support #119

merged 15 commits into from
Jun 4, 2021

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SzabolcsGergely
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@SzabolcsGergely SzabolcsGergely commented Apr 27, 2021 •
edited

Added support for BNO 085/6.
2 examples:
imu_gyro_example.cpp gyroscope + accelerometer at 400 hz (max for gyroscope).
imu_rotation_example.cpp rotation vector (quaternion) at 400 hz.
List of supported reports from IMU sensor:

ACCELEROMETER_RAW
ACCELEROMETER
LINEAR_ACCELERATION
GRAVITY
GYROSCOPE_RAW
GYROSCOPE_CALIBRATED
GYROSCOPE_UNCALIBRATED
MAGNETIC_FIELD_RAW
MAGNETIC_FIELD_CALIBRATED
MAGNETIC_FIELD_UNCALIBRATED
ROTATION_VECTOR
GAME_ROTATION_VECTOR
GEOMAGNETIC_ROTATION_VECTOR
ARVR_STABILIZED_RV
ARVR_STABILIZED_GRV

FW contains driver implementation and fix for tymesinc between LEON cores.

Related PR: luxonis/depthai-shared#28

@SzabolcsGergely SzabolcsGergely mentioned this pull request Apr 27, 2021
Merged
@SzabolcsGergely SzabolcsGergely added the Gen2 Feature for or issue with Gen2 label Apr 27, 2021
@Luxonis-Brandon Luxonis-Brandon added this to In progress in Gen2 Phase I Delivery via automation Apr 27, 2021
themarpe
themarpe requested changes Apr 28, 2021
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include/depthai/pipeline/datatype/IMUData.hpp Outdated Show resolved Hide resolved
include/depthai/pipeline/node/IMU.hpp Outdated Show resolved Hide resolved
src/pipeline/node/IMU.cpp Outdated Show resolved Hide resolved
examples/src/imu_gyro_accelero_example.cpp Outdated Show resolved Hide resolved
@Luxonis-Brandon Luxonis-Brandon moved this from In progress to Done in Gen2 Phase I Delivery Jun 4, 2021
@SzabolcsGergely SzabolcsGergely merged commit bf13880 into develop Jun 4, 2021
@SzabolcsGergely SzabolcsGergely deleted the imu_node branch June 4, 2021 03:59
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