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@PaulZC PaulZC released this 14 Nov 13:18
· 9 commits to main since this release
v1.2.10
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Learn about vigilant mode.

This release:

  • Adds new methods to get and set the DMP biases
    • Thank you @ThreadOfFate #105
    • The methods are: getBiasGyroX , getBiasAccelY , setBiasCPassZ etc
  • Adds a new example showing how to use the new methods and save/restore the biases
    • The example uses EEPROM to store the biases
    • It is written for ESP32 but can be adapted to work on many other platforms. You may need to change EEPROM.begin , EEPROM.commit etc.
    • If the EEPROM biases are valid, they are restored after the DMP has been begun
    • The biases are saved to EEPROM after two minutes
    • In those two minutes: rotate the sensor slowly around all three axes; hold the sensor stationary in all six orientations for a few seconds
    • When the example starts, the roll, pitch and yaw will start at zero but will settle to the correct values over the next ~ten seconds
  • Don't forget to uncomment line 29 (#define ICM_20948_USE_DMP) in ICM_20948_C.h to enable support for the DMP

Contributors

ThreadOfFate
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