nimu
[Drivers]

Collaboration diagram for nimu:

The nimu driver interfaces to the nIMU from MemSense. Currently supports the I2C version communicating via the provided USB dongle.

Currently only provides the raw outputs.

Compile-time dependencies

none

Provides

imu

Requires

none

Configuration requests

PLAYER_IMU_REQ_SET_DATATYPE

Configuration file options

accel_range (float, G)
- Default: 5

gyro_range (float, Degrees/sec)
- Default: 300

mag_range (float, Gauss)
- Default: 1.9

data_packet_type (integer)
- Default: 4. Possible values: 1, 2, 3, 4. (1 = 3D pose as X, Y, Z and + orientation/Euler angles as Roll, Pitch, Yaw; 2 = calibrated IMU data: accel, gyro, magnetometer; 3 = quaternions + calibrated IMU data; 4 = Euler angles + calibrated IMU data.)
- Specify the type of data packet to send (can be set using PLAYER_IMU_REQ_SET_DATATYPE as well).

Example

driver
(
  name "nimu"
  provides ["imu:0"]
  data_packet_type 2
)

Author:: Radu Bogdan Rusu

Last updated 12 September 2005 21:38:45