Can you expand the IMU library to incorporate more features of the MPU6886?
It has a built in low pass filter on both the gyro and accel data.
This is useful to reduce the needed sampling rate without getting aliasing errors.
For example, I set it to the Accel and Gyro low pass filter to 5.1 Hz and 5.0 Hz respectively.
This reduces noise and means I can sample at a much lower rate without high frequency data messing with the results.
I am doing this manually right now.
//Set IMU accelerometer LPF frequency to 5.1Hz.
Wire1.beginTransmission(MPU6886_ADDRESS);
Wire1.write(MPU6886_ACCEL_CONFIG2);
Wire1.write(0x06);
Wire1.endTransmission();
delay(1);
//Set IMU Gyro LPF frequency to 5Hz.
Wire1.beginTransmission(MPU6886_ADDRESS);
Wire1.write(MPU6886_CONFIG);
Wire1.write(0x06);
Wire1.endTransmission();
delay(1);
//To avoid limiting sensor output to less than 0x7F7F, set this bit to 1. This should be done every time the MPU-6886 is powered up.
Wire1.beginTransmission(MPU6886_ADDRESS);
Wire1.write(MPU6886_ACCEL_INTEL_CTRL);
Wire1.write(0x02);
Wire1.endTransmission();
delay(1);
Describe the bug
Can you expand the IMU library to incorporate more features of the MPU6886?
It has a built in low pass filter on both the gyro and accel data.
This is useful to reduce the needed sampling rate without getting aliasing errors. For example, I set it to the Accel and Gyro low pass filter to 5.1 Hz and 5.0 Hz respectively. This reduces noise and means I can sample at a much lower rate without high frequency data messing with the results. I am doing this manually right now.
The accelerometer offers low pass frequencies of 5.1, 10.2, 21.2, 44.8, 99.0, 218.1, 420.0 and 1046 Hz. (page 37-38 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf) The Gyroscope offers low pass frequencies of 5, 10, 20, 41, 92, 176, 250, 3281, 8173 Hz. (page 36 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf)
There is also a note in the data sheet that a bit in one of the registers should be set to 1 on every power up. (page 45 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf) This should be included in the software library initialization sequence.
Lastly, the MPU6886 has a low power mode that would be nice to have included in the library. (page 47 of https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf)
To reproduce
Any usage of the MPU6886
Expected behavior
I expect the library to allow setting the low pass filters, not limit the output to 0x7F7F, and allow low power/sleep mode.
Screenshots
No response
Environment
Additional context
No response
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