Add calibration parameters for IMU data

aburt2 commented 11 months ago

Added calibration parameters for the IMU data for Sensor fusion. Based on the calibration parameters from https://github.com/xioTechnologies/Fusion.

adds gyro and accelerometer offset (only does offset calibration, does not include misalignment or sensitivity matrix)
adds parameters for both soft and hard iron magnetometer calibration
adds three methods calibrateAccelerometer, calibrateMagnetometer and calibrateGyroscope for calibrating the values sent to the sensor fusion algorithm
Does not calibrate the sensors only computes the calibrated values given the calibration parameters

aburt2 commented 10 months ago

@edumeneses forgot I had finished this a while ago

edumeneses commented 10 months ago

Great. Thanks for that.

Please keep in mind that the refactor will probably break a lot of things.

I will make a release before refactoring to ensure compatibility with old firmware.

aburt2 commented 10 months ago

Thanks @edumeneses can you merge it, I don't have access to merge for this repo

Puara / puara-gestures