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sparkfun / SparkFun_BNO080_Arduino_Library

An Arduino Library for the BNO080 IMU combination triple axis accelerometer/gyro/magnetometer packaged with an ARM Cortex M0+ running powerful algorithms.
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Addition of the uncalibrated gyroscope report #98

Closed bastienboudet closed 1 year ago

bastienboudet commented 2 years ago

Description

Add the uncalibrated gyroscope report with the full set of related functions. The uncalibrated gyroscope report can be realy usefull as at very low angular velocity the bias often take the raw gyroscope value (see image below): raw vs normal gyro (in the graph y values are in rad/s, w is the calibrated gyroscope value and w2 is the raw gyroscope value)

Command added

enableUncalibratedGyro(timebetweenreports) getUncalibratedGyroX(); getUncalibratedGyroY(); getUncalibratedGyroZ() getUncalibratedGyroBiasX(); getUncalibratedGyroBiasY(); getUncalibratedGyroBiasZ() getUncalibratedGyroAccuracy() and getUncalibratedGyro(args)

PaulZC commented 2 years ago

Thank you @bastienboudet !

We will get this tested and merged as soon as possible.

Best wishes, Paul

PaulZC commented 1 year ago

Hi @bastienboudet ,

Thank you for the contribution and many apologies for the very slow reply.

Merging for testing...

Very best wishes, Paul