quietlychris
commented
3 years ago I'm definitely open to other state estimation boards! And I'm definitely adding some of his work to my reading list--it looks like great material. From what I saw, though, it looked like the existing driver code was written in C++. Did I miss a link to a Rust API somewhere, or did you code it from scratch/write bindings to the provided ones? It's not a dealbreaker if the second one, but I would need to think about the cost/benefit on the time trade-off a little harder. Honestly, one of the reasons why I went with the BNO055 instead of even the newer BNO085 is because the Rust bindings seemed well-maintained.
Ultimately, I'm hoping to come up with a way to easily abstract most device-specific code away, by having some sort of message-passing middleware for syncing various threads/processes so that switching out hardware doesn't necessarily mean needing to change the code in the control loop.
braincore
My quadcopter used this board: https://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution-lsm6dsm-lis2md/
The creator has spent a good amount of time characterizing the performance of ST's line of accelerators, gyroscopes, magnetometers, and pressure sensors. He combines these on one board with a dedicated sensor fusion chip which can run the iterative attitude-estimation algorithm at 400 Hz. Even if you don't use it, it's educational reading through all his material.
He also released a new board that I'd try using if I were starting my project today: https://www.tindie.com/products/onehorse/max32660-motion-co-processor/