nimu

nIMU Inertial Measurement Unit driver More...

nIMU Inertial Measurement Unit driver

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