Support LSM6DSV IMU #308
Support LSM6DSV IMU #308
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Started implementing it on a bno080 copy
… sensor impl postfixed with sensor. Fix compilation errors
… to 16g gyro to 1000dps
| @@ -35,6 +35,7 @@ | |||
| #define IMU_BMI160 8 | |||
| #define IMU_ICM20948 9 | |||
| #define IMU_ICM42688 10 | |||
| #define IMU_LSM6DSV 12 | |||
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This should be noted when merging, depending on the order of merging PRs this might be awkward to skip a number.
| @@ -34,8 +34,15 @@ The following IMUs and their corresponding `IMU` values are supported by the fir | |||
| * ICM-20948 (IMU_ICM20948) | |||
| * Using fusion in internal DMP for 6Dof or 9DoF, 9DoF mode requires good magnetic environment. | |||
| * Comment out `USE_6DOF` in `debug.h` for 9DoF mode. | |||
| * Experimental support!\ | |||
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Something broke here, what's that \?
| @@ -0,0 +1,4080 @@ | |||
| /** | |||
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Please include a link to the original repository.
| { | ||
| uint8_t intPin = extraParam; | ||
| sensor = new LSM6DSVSensor(sensorID, imuType, address, rotation, sclPin, sdaPin, intPin); | ||
| } | ||
| break; |
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| { | |
| uint8_t intPin = extraParam; | |
| sensor = new LSM6DSVSensor(sensorID, imuType, address, rotation, sclPin, sdaPin, intPin); | |
| } | |
| break; | |
| sensor = new LSM6DSVSensor(sensorID, imuType, address, rotation, sclPin, sdaPin, extraParam); | |
| break; |
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I would suggest against this change, as the original change follow the pattern of how other cases in this switch statement has done this
| @@ -72,7 +72,7 @@ class Quat { | |||
| Vector3 get_euler_yxz() const; | |||
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| void set_euler(const Vector3& p_euler) { set_euler_yxz(p_euler); }; | |||
| Vector3 get_euler() const { return get_euler_yxz(); }; | |||
| Vector3 get_euler() const { return get_euler_xyz(); }; | |||
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Instead of modifying get_euler() you should rather use the get_euler_xyz() in your code.
| @@ -34,8 +34,15 @@ The following IMUs and their corresponding `IMU` values are supported by the fir | |||
| * ICM-20948 (IMU_ICM20948) | |||
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GitHub doesn't allow me to request changes without a comment...
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Is this still needed if we go for #322 ? |
This probably shouldn't be preferred over sfusion, at least not without a cleanup. |
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I convert that to draft, as sfusion seems to be the better solution. |
This adds support for the lsm6dsv family of IMUs. They are better than bmi160 and seems comparable to the bno but need more users testing them.
This merge should probably be squashed into 1 commit.