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IMU brick improvements needed


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One for the developers and hopefully not a difficult change.  The IMU v2 based on the Bosch BNO055 which has more 'sensor fusion modes' than we have options for.


In testing the unit I have found that the FMC (fast magnetometer calibration) is troublesome and makes yaw / compass / heading output very unrepeatable.


There is a fusion mode called 'NDOF_FMC_OFF' (0b00001011) which is the same as the BrickIMUV2.SENSOR_FUSION_ON mode but has the auto calibration routine for the magnetometer disabled.


You can still store a full calibration profile and all other functions are the same.  Using the same chip in an Arduino device has resulted in a more stable system without the unexplained 'jumps' in yaw output that are often seen in the NDOF mode


It looks like a simple enough change with no backward compatibility issues ?


Thanks for your consideration

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I just released IMU Brick V2 firmware 2.0.13 with the new parameter. Call set_sensor_fusion_mode with 3. The new constant will be available with the next Bindings release.







I tested with this small script and played around in Brick Viewer. I think i can see the difference between the two modes.

#!/usr/bin/env python
# -*- coding: utf-8 -*-

HOST = "localhost"
PORT = 4223
UID = "6xEivJ" # Change to your UID

from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_imu_v2 import BrickIMUV2

if __name__ == "__main__":
    ipcon = IPConnection() # Create IP connection
    imu = BrickIMUV2(UID, ipcon) # Create device object

    ipcon.connect(HOST, PORT) # Connect to brickd


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