Added IMU node and IMUData message docs

docs/source/components/messages/imu_data.rst

@@ -0,0 +1,26 @@
+IMUData
+=======
+
+IMU data message is created by the :ref:`IMU` node.
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.IMUData
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::IMUData
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst

docs/source/components/nodes/imu.rst

@@ -0,0 +1,135 @@
+IMU
+===
+
+IMU (`intertial measurement unit <https://en.wikipedia.org/wiki/Inertial_measurement_unit>`__) node can be used to receive data from the IMU chip on the device.
+Our DepthAI devices use `BNO085 <https://www.ceva-dsp.com/product/bno080-085/>`__ 9-axis sensor (`datasheet here <https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf>`__)
+that supports sensor fusion on the (IMU) chip itself. The IMU chip is connected to the Myriad X (VPU) over SPI (we have integrated
+`this driver <https://github.com/hcrest/bno080-driver>`__ to the DepthAI).
+
+
+How to place it
+###############
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    imu = pipeline.create(dai.node.IMU)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto imu = pipeline.create<dai::node::IMU>();
+
+
+Inputs and Outputs
+##################
+
+.. code-block::
+
+  ┌──────────────┐
+  │              │
+  │              │      out
+  │     IMU      ├─────────►
+  │              │
+  │              │
+  └──────────────┘
+
+**Message types**
+
+- :code:`out` - :ref:`IMUData`
+
+Maximum frequencies
+###################
+
+Maximum output frequencies are 500 Hz raw accelerometer, 1000 Hz raw gyroscope values individually, and 500 Hz combined (synced) output.
+You can obtain the combined (synced) 500 Hz output with :code:`imu.enableIMUSensor([dai.IMUSensor.RAW_ACCELEROMETER, dai.IMUSensor.RAW_GYROSCOPE], 500)`.
+
+Usage
+#####
+
+.. tabs::
+
+  .. code-tab:: py
+
+    pipeline = dai.Pipeline()
+    imu = pipeline.create(dai.node.IMU)
+
+    # enable RAW_ACCELEROMETER and RAW_GYROSCOPE at 100 hz rate
+    imu.enableIMUSensor([dai.IMUSensor.RAW_ACCELEROMETER, dai.IMUSensor.RAW_GYROSCOPE], 100)
+    # 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
+    # if lower or equal to batchReportThreshold then the sending is always blocking on device
+    # useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
+    imu.setMaxBatchReports(10)
+
+  .. code-tab:: c++
+
+    dai::Pipeline pipeline;
+    auto imu = pipeline.create<dai::node::IMU>();
+
+    // enable RAW_ACCELEROMETER and RAW_GYROSCOPE at 100 hz rate
+    imu->enableIMUSensor({dai::IMUSensor::RAW_ACCELEROMETER, dai::IMUSensor::RAW_GYROSCOPE}, 100);
+    // 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
+    // if lower or equal to batchReportThreshold then the sending is always blocking on device
+    // useful to reduce device's CPU load  and number of lost packets, if CPU load is high on device side due to multiple nodes
+    imu->setMaxBatchReports(10);
+
+
+IMU sensors
+###########
+
+When enabling the IMU sensors (:code:`imu.enableIMUSensor()`), you can select between the following sensors:
+
+- :code:`ACCELEROMETER_RAW`
+- :code:`ACCELEROMETER`
+- :code:`LINEAR_ACCELERATION`
+- :code:`GRAVITY`
+- :code:`GYROSCOPE_RAW`
+- :code:`GYROSCOPE_CALIBRATED`
+- :code:`GYROSCOPE_UNCALIBRATED`
+- :code:`MAGNETOMETER_RAW`
+- :code:`MAGNETOMETER_CALIBRATED`
+- :code:`MAGNETOMETER_UNCALIBRATED`
+- :code:`ROTATION_VECTOR`
+- :code:`GAME_ROTATION_VECTOR`
+- :code:`GEOMAGNETIC_ROTATION_VECTOR`
+- :code:`ARVR_STABILIZED_ROTATION_VECTOR`
+- :code:`ARVR_STABILIZED_GAME_ROTATION_VECTOR`
+
+Here are **descriptions of all sensors**:
+
+.. autoclass:: depthai.IMUSensor
+  :noindex:
+
+Examples of functionality
+#########################
+
+- :ref:`IMU Accelerometer & Gyroscope`
+- :ref:`IMU Rotation Vector`
+
+Reference
+#########
+
+.. tabs::
+
+  .. tab:: Python
+
+    .. autoclass:: depthai.node.IMU
+      :members:
+      :inherited-members:
+      :noindex:
+
+  .. tab:: C++
+
+    .. doxygenclass:: dai::node::IMU
+      :project: depthai-core
+      :members:
+      :private-members:
+      :undoc-members:
+
+.. include::  ../../includes/footer-short.rst

docs/source/samples/imu_accelerometer_gyroscope.rst

@@ -7,6 +7,19 @@ Returns acceleration [m/s^2] and angular velocity [rad/s].
 Demo
 ####
 
+Example script output
+
+.. code-block::
+
+    ~/depthai-python/examples$ python3 imu_gyroscope_accelerometer.py
+    Accelerometer timestamp: 0.000 ms
+    Accelerometer [m/s^2]: x: -0.162806 y: 6.445191 z: 3.189077
+    Gyroscope timestamp: 1.642 ms
+    Gyroscope [rad/s]: x: -0.040480 y: 0.088417 z: -0.168312
+    Accelerometer timestamp: 2.073 ms
+    Accelerometer [m/s^2]: x: -0.229843 y: 6.263232 z: 3.572149
+    Gyroscope timestamp: 3.663 ms
+    Gyroscope [rad/s]: x: -0.072438 y: 0.115049 z: -0.350472
 
 Setup
 #####

docs/source/samples/imu_rotation_vector.rst

@@ -7,6 +7,20 @@ Returns quaternion.
 Demo
 ####
 
+Example script output
+
+.. code-block::
+
+    ~/depthai-python/examples$ python3 imu_rotation_vector.py
+    Rotation vector timestamp: 0.000 ms
+    Quaternion: i: 0.089355 j: 0.355103 k: 0.034058 real: 0.929932
+    Accuracy (rad): 3.141602
+    Rotation vector timestamp: 3.601 ms
+    Quaternion: i: 0.088928 j: 0.354004 k: 0.036560 real: 0.930298
+    Accuracy (rad): 3.141602
+    Rotation vector timestamp: 6.231 ms
+    Quaternion: i: 0.094604 j: 0.344543 k: 0.040955 real: 0.933105
+    Accuracy (rad): 3.141602
 
 Setup
 #####