Commands for the IMU. They are prefixed by "IMU".
- ON:
- "IMU ON (STOP)"
Powers on the IMU module. Optional STOP then does "IMU STOP" to prevent polling
- OFF:
- "IMU OFF"
Powers off the IMU module.
- LOGTYPE:
- "IMU LOGTYPE (SENSOR)/TIMED"
Sets the imu log type. Timed -> imu.nma, Sensor (default) -> .nma
- FAULT:
- "IMU FAULT"
Simulates an IMU error.
- STATUS:
- "IMU STATUS"
Reports IMU status.
- FRESET:
- "IMU FRESET"
Performs a factory reset (needs to be saved).
- SAVE:
- "IMU SAVE"
Saves IMU configuration.
- ID:
- "IMU ID"
Show IMU information.
- ACCRANGE:
- "IMU ACCRANGE (2G/4G/8G)"
Get or set accelerometer range.
- FILTER:
- "IMU FILTER (IMU/KALMAN/QCOMP/QGRAD/QGRAD2)"
Get or set IMU filter mode.
- CONFIG:
- "IMU CONFIG (GET/SET KALMAN/SET QGRAD2)"
Get or set IMU generic configuration.
- REF:
- "IMU REF (STATIC/AUTO/CONTINUOUS)"
Get or set IMU reference mode.
- EULER OFFSET:
- "IMU EULER OFFSET (<p> <y> <r>)"
Get or set orientation euler offsets.
- OVERSAMPLE:
- "IMU OVERSAMPLE (<G> <A> <M>)"
Get or set oversample parameters.
- TARE:
- "IMU TARE(CURRENT/UNITY)"
Get or set IMU Tare matrix.
- GYROCAL:
- "IMU GYROCAL (PERFORM)"
Get or perform Gyro calibration.
- CAL:
- Calibration engine commands. Only included with WindBot target builds
| Command | Description |
| IMU CAL (GET) | Returns calibration parameters |
| IMU CAL FROM FILE/<filename> | Sets calibration parameters from IMU.CAL or <filename> |
| IMU CAL START (<time>/FROM FILE/FROM <file>) | Begins a calibration cycle. |
| IMU CAL REPORT(<time>) | Begins a calibration report cyle |
- DATA:
- These commands return sensor data, or orientation estimation
| Command | Description |
| IMU RAW | Geta all RAW sensor data |
| IMU CORRECTED | Get all CORRECTED sensor data |
| IMU QUAT | Get sensor orientation as Quaternion |
| IMU EULER (UNTARED) | Get (untared) sensor orientation as Euler |
| IMU ACCEL (RAW/NO_G) | Get corrected, raw, or corrected without G sensor acceleration |
- START:
- "IMU START"
Starts polling IMU according to MESSAGE configuration.
Implied by IMU ON unless disabled with IMU STOP.
- STOP:
- "IMU STOP"
Stops polling IMU.
- RATE:
- "IMU RATE <x>"
sets the base polling rate for messages. Defaults to 100
- MESSAGE:
| Command | Description |
| IMU MESSAGE [TYPE] OFF | Disables the message type |
| IMU MESSAGE [TYPE] <divisor> | Enables message, with no logging or live data |
| IMU MESSAGE [TYPE] <divisor> LOG <xyz> | Enables message with logging, no live data |
| IMU MESSAGE [TYPE] <divisor> LOG <xyz> <live divisor> LIVE <xyz> | Enables message with logging and live data |
| IMU MESSAGE [TYPE] <divisor> <live divisor> LIVE <xyz> | Enables message with live data, no logging |
Note: <xyz> arguments are optional and spatial.
- ORIENTATION [DECK/BOW/STERN/PORT/STARBOARD]:
- Sets the orientation of the IMU. Note: This only affects the Orientation estimation, not Magnetometer, Accelerometer or Gyro data.
AXES is a synonym.
DECK: YachtBot is placed flat on the deck with the GPS antenna facing towards the bow, and the sticker pointing to the sky.
BOW: YachtBot is mounted on the bow (front) with the GPS antenna facing the sky, and the sticker pointing forwards.
STERN: YachtBot is mounted on the stern (back) with the GPS antenna facing the sky, and the sticker pointing backwards.
PORT: YachtBot is mounted on the port (left) side with the GPS antenna facing the sky, and the sticker pointing away from the boat
STARBOARD: YachtBot is mounted on the starboard (right) side with the GPS antenna facing the sky, and the sticker pointing away from the boat
UNITY: Unity used the natural axes of the IMU. This is. +tve X is out the bung, +tve Y is out the bottom of the case, +tve Z is to the left.
