IMU

Inertial Measurement Unit (IMU)

Device Compatibility

Overview

The IMU sensor reports values for:

  • Yaw, Pitch, and Roll
  • Acceleration for x, y, z axes
  • Gyroscope for x, y, z axes
  • Magnetometer for x, y, z axes

References

Below is the overview of the IMU sensor implementation. Code example can be found here.

These header files are required to use the IMU sensor.

// Interfaces with IMU sensor
#include "matrix_hal/imu_sensor.h"
// Holds data from IMU sensor
#include "matrix_hal/imu_data.h"
// Communicates with MATRIX device
#include "matrix_hal/matrixio_bus.h"
IMUData

IMUData is a required object that contains the IMU sensor's supported data parameters.

// Create IMUData object
matrix_hal::IMUData imu_data;

The following code accesses the parameters of IMUData.

// Accelerometer
float accel_X = imu_data.accel_x;
float accel_Y = imu_data.accel_y;
float accel_Z = imu_data.accel_z;
// Gyroscope
float gyro_X = imu_data.gyro_x;
float gyro_Y = imu_data.gyro_y;
float gyro_Z = imu_data.gyro_z;
// Yaw, Pitch, Roll Output
float yaw = imu_data.yaw;
float pitch = imu_data.pitch;
float roll = imu_data.roll;
// Magnetometer
float mag_X = imu_data.mag_x;
float mag_Y = imu_data.mag_y;
float mag_Z = imu_data.mag_z; // Z-axis points upward
IMUSensor

IMUSensor is a required object that contains functions to interface with the IMU sensor.

// Create IMUSensor object
matrix_hal::IMUSensor imu_sensor;

The functions below are part of IMUSensor.

.Setup

Setup is a function that takes a MatrixIOBus object as a parameter and sets that object as the bus to use for communicating with MATRIX device.

// Function declaration in header file
void Setup(MatrixIOBus *bus);

// Set imu_sensor to use MatrixIOBus bus
imu_sensor.Setup(&bus);
.Read

Read is a function that takes an IMUData object as a parameter and writes the current IMU sensor data into the IMUData object.

// Function declaration in header file
bool Read(IMUData *data);

// Overwrites imu_data with new data from IMU sensor
imu_sensor.Read(&imu_data);

Contents