Expand the current IMU implementation #250

pascalzauberzeug · 2025-01-22T01:11:40Z

This PR expands the functionality of the IMU, inspired by the GNSS implementation.

I'm not really happy with the naming here:

roll_velocity: float | None
pitch_velocity: float | None
yaw_velocity: float | None

- [x] Real life tests - [x] Implement IMU changes in https://github.com/zauberzeug/rosys/tree/rework_imu - [x] Revert U4 config changes when Lizard is fixed (Tests fail because tornado is deactivated) - [x] Wait for zauberzeug/rosys#250 and [RoSys 0.22.0](https://github.com/zauberzeug/rosys/milestone/38)

pascalzauberzeug added 8 commits January 20, 2025 18:11

wip: remove offset for now

7645442

Merge remote-tracking branch 'origin/main' into rework_imu

69f3ffa

Expand current IMU

bb5dcc8

Use default rotation

cd98c86

Refactor ImuMeasurement

4ef0c3d

Rework developer ui

fd32885

Add gyro calibration to measurement

a3fd6d7

Add docstrings

3795bc6

pascalzauberzeug added the enhancement New feature or request label Jan 22, 2025

pascalzauberzeug added this to the 0.22.0 milestone Jan 22, 2025

pascalzauberzeug self-assigned this Jan 22, 2025

pascalzauberzeug requested a review from falkoschindler January 22, 2025 01:14

pascalzauberzeug mentioned this pull request Jan 22, 2025

Add IMU to Kalman Filter zauberzeug/field_friend#259

Merged

4 tasks

pascalzauberzeug and others added 4 commits January 23, 2025 16:16

Merge remote-tracking branch 'origin/main' into rework_imu

c213a40

Merge remote-tracking branch 'origin/main' into rework_imu

868c0a4

code review

1e6cc18

improve rotation and angular_velocity attributes

9391050

falkoschindler approved these changes Jan 23, 2025

View reviewed changes

Fix developer_ui

6f22017

falkoschindler merged commit f637e6a into main Jan 23, 2025
5 checks passed

falkoschindler deleted the rework_imu branch January 23, 2025 16:52

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