Firmware Version 0.2

API Reference

Firmware Version:

C / C++ API Reference

IMU.IMU()

IMU::IMU(uint32_t device_id, Interface *interface)

Description

Construct a new IMU object.

Parameters

Datatype	Variable	Description
uint32_t	device_id	Device Id for the IMU device
Interface *	interface	CAN Interface object for the interface to which the IMU is connected

IMU.IMU()

IMU::IMU(Interface *interface)

Description

Construct a new IMU object.

Parameters

Datatype	Variable	Description
Interface *	interface	Device Id for the IMU device

IMU.clearDCD()

ret_status_t IMU::clearDCD()

Description

Clear Dynamic Calibration Data (DCD)

Returns

Datatype	Description
ret_status_t	Return Status

IMU.clearTare()

ret_status_t IMU::clearTare()

Description

Clear all tare offsets.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableAccelerometer()

ret_status_t IMU::disableAccelerometer()

Description

Disable Accelerometer Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableGravity()

ret_status_t IMU::disableGravity()

Description

Disable Gravity Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableGyro()

ret_status_t IMU::disableGyro()

Description

Disable Gyroscope Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableLinearAccelerometer()

ret_status_t IMU::disableLinearAccelerometer()

Description

Disable Linear Accelerometer Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableMagnetometer()

ret_status_t IMU::disableMagnetometer()

Description

Disable Magnetometer Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRawAccelerometer()

ret_status_t IMU::disableRawAccelerometer()

Description

Disable Raw Accelerometer Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRawGyro()

ret_status_t IMU::disableRawGyro()

Description

Disable Raw Gyroscope Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRawMagnetometer()

ret_status_t IMU::disableRawMagnetometer()

Description

Disable Raw Magnetometer Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableRotationVector()

ret_status_t IMU::disableRotationVector()

Description

Disable Rotation Vector Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.disableUncalibratedGyro()

ret_status_t IMU::disableUncalibratedGyro()

Description

Disable Uncalibrated Gyroscope Data.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableAccelerometer()

ret_status_t IMU::enableAccelerometer(uint16_t report_interval)

Description

Enable Accelerometer Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableGravity()

ret_status_t IMU::enableGravity(uint16_t report_interval)

Description

Enable Gravity Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableGyro()

ret_status_t IMU::enableGyro(uint16_t report_interval)

Description

Enable Gyroscope Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableLinearAccelerometer()

ret_status_t IMU::enableLinearAccelerometer(uint16_t report_interval)

Description

Enable Linear Accelerometer Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableMagnetometer()

ret_status_t IMU::enableMagnetometer(uint16_t report_interval)

Description

Enable Magnetometer Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRawAccelerometer()

ret_status_t IMU::enableRawAccelerometer(uint16_t report_interval)

Description

Enable Raw Accelerometer Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRawGyro()

ret_status_t IMU::enableRawGyro(uint16_t report_interval)

Description

Enable Raw Gyroscope Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRawMagnetometer()

ret_status_t IMU::enableRawMagnetometer(uint16_t report_interval)

Description

Enable Raw Magnetometer Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableRotationVector()

ret_status_t IMU::enableRotationVector(uint16_t report_interval)

Description

Enable Rotation Vector Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enableUncalibratedGyro()

ret_status_t IMU::enableUncalibratedGyro(uint16_t report_interval)

Description

Enable Uncalibrated Gyroscope Data and configure it.

Parameters

Datatype	Variable	Description
uint16_t	report_interval	Report interval in milliseconds

Returns

Datatype	Description
ret_status_t	Return Status

IMU.enterDFUMode()

ret_status_t IMU::enterDFUMode()

Description

Enter the Device Firmware Update (DFU) mode.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.eraseConfigurations()

ret_status_t IMU::eraseConfigurations()

Description

Erase the saved configurations from non-volatile memory.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getAccelerometerData()

ret_status_t IMU::getAccelerometerData(float *x, float *y, float *z, uint8_t *accuracy)

Description

Retrieves the accelerometer data from the IMU.

Parameters

Datatype	Variable	Description
float *	x	Pointer to the variable where the acceleration in x axis (m/s²) is to be stored.
float *	y	Pointer to the variable where the acceleration in y axis (m/s²) is to be stored.
float *	z	Pointer to the variable where the acceleration in z axis (m/s²) is to be stored.
uint8_t *	accuracy	Pointer to the variable where the accuracy of the acceleration data is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getCalibrationStatus()

ret_status_t IMU::getCalibrationStatus(bool *isCalibrated)

Description

Get the current calibration status.

Parameters

Datatype	Variable	Description
bool *	isCalibrated	Pointer to the variable where calibration completion status is to be stored

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getEulerAngles()

ret_status_t IMU::getEulerAngles(float *yaw, float *pitch, float *roll)

Description

Retrieves the Euler angles from the IMU.

Parameters

Datatype	Variable	Description
float *	yaw	Pointer to the variable where the yaw angle (degrees) is to be stored.
float *	pitch	Pointer to the variable where the pitch angle (degrees) is to be stored.
float *	roll	Pointer to the variable where the roll angle (degrees) is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getFirmwareCommit()

ret_status_t IMU::getFirmwareCommit(std::string *commit)

Description

Get the firmware commit hash of the NIMU device.

Parameters

Datatype	Variable	Description
std::string *	commit	Pointer to the string where the commit hash is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getFirmwareVersion()

ret_status_t IMU::getFirmwareVersion(uint8_t *major, uint8_t *minor, uint16_t *revision)

Description

Get the firmware version of the NIMU device.

Parameters

Datatype	Variable	Description
uint8_t *	major	Pointer to the variable where the major version is to be saved
uint8_t *	minor	Pointer to the variable where the minor version is to be saved
uint16_t *	revision	Pointer to the variable where the revision number is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getGravityData()

ret_status_t IMU::getGravityData(float *x, float *y, float *z)

Description

Retrieves the gravity data from the IMU.

Parameters

Datatype	Variable	Description
float *	x	Pointer to the variable where the gravity in x axis (g) is to be stored.
float *	y	Pointer to the variable where the gravity in y axis (g) is to be stored.
float *	z	Pointer to the variable where the gravity in z axis (g) is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getGyroData()

ret_status_t IMU::getGyroData(float *x, float *y, float *z, uint8_t *accuracy)

Description

Retrieves the gyroscope data from the IMU.

Parameters

Datatype	Variable	Description
float *	x	Pointer to the variable where the gyro value in x axis (radians per second) is to be stored.
float *	y	Pointer to the variable where the gyro value in y axis (radians per second) is to be stored.
float *	z	Pointer to the variable where the gyro value in z axis (radians per second) is to be stored.
uint8_t *	accuracy	Pointer to the variable where the accuracy of the gyro data is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getHardwareVersion()

ret_status_t IMU::getHardwareVersion(uint8_t *tag, uint8_t *major, uint8_t *minor, uint8_t *variant)

Description

Get the hardware version of the NIMU device.

Parameters

Datatype	Variable	Description
uint8_t *	tag	Pointer to the variable where the hardware tag is to be saved
uint8_t *	major	Pointer to the variable where the major version is to be saved
uint8_t *	minor	Pointer to the variable where the minor version is to be saved
uint8_t *	variant	Pointer to the variable where the variant is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getLinearAccelerometerData()

ret_status_t IMU::getLinearAccelerometerData(float *x, float *y, float *z, uint8_t *accuracy)

Description

Retrieves the linear accelerometer data from the IMU.

Parameters

Datatype	Variable	Description
float *	x	Pointer to the variable where the linear acceleration in x axis (m/s²) is to be stored.
float *	y	Pointer to the variable where the linear acceleration in y axis (m/s²) is to be stored.
float *	z	Pointer to the variable where the linear acceleration in z axis (m/s²) is to be stored.
uint8_t *	accuracy	Pointer to the variable where the accuracy of the linear acceleration data is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getMagnetometerData()

ret_status_t IMU::getMagnetometerData(float *x, float *y, float *z, uint8_t *accuracy)

Description

Retrieves the magnetometer data from the IMU.

Parameters

Datatype	Variable	Description
float *	x	Pointer to the variable where the magnetometer value in x axis (uTesla) is to be stored.
float *	y	Pointer to the variable where the magnetometer value in y axis (uTesla) is to be stored.
float *	z	Pointer to the variable where the magnetometer value in z axis (uTesla) is to be stored.
uint8_t *	accuracy	Pointer to the variable where the accuracy of the magnetometer data is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getNodeId()

ret_status_t IMU::getNodeId(uint32_t *node_id)

Description

Get current CAN Node ID of the NIMU.

Parameters

Datatype	Variable	Description
uint32_t *	node_id	Pointer to the variable to which the current CAN Node ID of the NIMU is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.getRawAccelerometerData()

ret_status_t IMU::getRawAccelerometerData(int16_t *x, int16_t *y, int16_t *z)

Description

Retrieves the raw accelerometer data from the IMU.

Parameters

Datatype	Variable	Description
int16_t *	x	Pointer to the variable where the raw accelerometer value in x axis is to be stored.
int16_t *	y	Pointer to the variable where the raw accelerometer value in y axis is to be stored.
int16_t *	z	Pointer to the variable where the raw accelerometer value in z axis is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getRawGyroData()

ret_status_t IMU::getRawGyroData(int16_t *x, int16_t *y, int16_t *z)

Description

Retrieves the raw gyroscope data from the IMU.

Parameters

Datatype	Variable	Description
int16_t *	x	Pointer to the variable where the raw gyro value in x axis is to be stored.
int16_t *	y	Pointer to the variable where the raw gyro value in y axis is to be stored.
int16_t *	z	Pointer to the variable where the raw gyro value in z axis is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getRawMagnetometerData()

ret_status_t IMU::getRawMagnetometerData(int16_t *x, int16_t *y, int16_t *z)

Description

Retrieves the raw magnetometer data from the IMU.

Parameters

Datatype	Variable	Description
int16_t *	x	Pointer to the variable where the raw magnetometer value in x axis is to be stored.
int16_t *	y	Pointer to the variable where the raw magnetometer value in y axis is to be stored.
int16_t *	z	Pointer to the variable where the raw magnetometer value in z axis is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getRotationVectorAccuracy()

ret_status_t IMU::getRotationVectorAccuracy(float *quat_rad_accuracy, uint8_t *quat_accuracy)

Description

Retrieves the rotation vector accuracy data from the IMU.

Parameters

Datatype	Variable	Description
float *	quat_rad_accuracy	Pointer to the variable where the estimated accuracy of the quaternion in radians is to be stored.
uint8_t *	quat_accuracy	Pointer to the variable where the estimated accuracy of the quaternion is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getRotationVectorData()

ret_status_t IMU::getRotationVectorData(float *quat_i, float *quat_j, float *quat_k, float *quat_real)

Description

Retrieves the rotation vector data from the IMU.

Parameters

Datatype	Variable	Description
float *	quat_i	Pointer to the variable where the i component of the quaternion is to be stored.
float *	quat_j	Pointer to the variable where the j component of the quaternion is to be stored.
float *	quat_k	Pointer to the variable where the k component of the quaternion is to be stored.
float *	quat_real	Pointer to the variable where the real component of the quaternion is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getUncalibratedGyroBiasData()

ret_status_t IMU::getUncalibratedGyroBiasData(float *x, float *y, float *z)

Description

Retrieves the uncalibrated gyroscope bias data from the IMU.

Parameters

Datatype	Variable	Description
float *	x	Pointer to the variable where the uncalibrated gyro bias in x axis (radians per second) is to be stored.
float *	y	Pointer to the variable where the uncalibrated gyro bias in y axis (radians per second) is to be stored.
float *	z	Pointer to the variable where the uncalibrated gyro bias in z axis (radians per second) is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.getUncalibratedGyroData()

ret_status_t IMU::getUncalibratedGyroData(float *x, float *y, float *z)

Description

Retrieves the uncalibrated gyroscope data from the IMU.

Parameters

Datatype	Variable	Description
float *	x	Pointer to the variable where the uncalibrated gyro value in x axis (radians per second) is to be stored.
float *	y	Pointer to the variable where the uncalibrated gyro value in y axis (radians per second) is to be stored.
float *	z	Pointer to the variable where the uncalibrated gyro value in z axis (radians per second) is to be stored.

Returns

Datatype	Description
ret_status_t	Status of the operation.

IMU.isConnected()

bool IMU::isConnected()

Description

Check if the device is still connected or not.

Returns

Datatype	Description
bool	true

IMU.rebootNIMU()

ret_status_t IMU::rebootNIMU()

Description

Reboot the NIMU device.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.saveCalibration()

ret_status_t IMU::saveCalibration()

Description

Save calibration data to non-volatile memory.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.saveConfigurations()

ret_status_t IMU::saveConfigurations()

Description

Save the current configurations to non-volatile memory.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.setNodeId()

ret_status_t IMU::setNodeId(uint32_t id)

Description

Set the node id for the NIMU.

Parameters

Datatype	Variable	Description
uint32_t	id	CAN Node ID of the NIMU

Returns

Datatype	Description
ret_status_t	Return Status

IMU.setOrientation()

ret_status_t IMU::setOrientation(float i, float j, float k, float real)

Description

Set the sensor orientation using a quaternion.

Parameters

Datatype	Variable	Description
float	i	The i component of the quaternion
float	j	The j component of the quaternion
float	k	The k component of the quaternion
float	real	The real component of the quaternion

Returns

Datatype	Description
ret_status_t	Return Status

IMU.setOutputLogStream()

void IMU::setOutputLogStream(std::ostream *out)

Description

Set the Output Log Stream object.

Parameters

Datatype	Variable	Description
std::ostream *	out	Output log stream object

IMU.startCalibration()

ret_status_t IMU::startCalibration(bool accel, bool gyro, bool mag, bool planarAccel)

Description

Start calibration and configure it.

Parameters

Datatype	Variable	Description
bool	accel	Enable accelerometer calibration
bool	gyro	Enable gyroscope calibration
bool	mag	Enable magnetometer calibration
bool	planarAccel	Enable planar accelerometer calibration

Returns

Datatype	Description
ret_status_t	Return Status

IMU.stopCalibration()

ret_status_t IMU::stopCalibration()

Description

Stop the ongoing calibration process.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.tareAll()

ret_status_t IMU::tareAll()

Description

Apply tare to all axes of the IMU.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.tareYaw()

ret_status_t IMU::tareYaw()

Description

Apply tare to the Z-axis.

Returns

Datatype	Description
ret_status_t	Return Status

IMU.~IMU()

IMU::~IMU()

Description

Destroy the IMU object.

Python API Reference

IMU.__init__()

__init__(id: int = -1, interface: USBInterface = None) 

Description

IMU class constructor.

Parameters

Datatype	Variable	Description
int	id	CAN Node ID of the IMU device
USBInterface	interface	Initialised CANInterface or USBInterface object

IMU.clearDCD()

clearDCD() -> int

Description

Clear Dynamic Calibration Data (DCD)

Returns

Datatype	Description
int	Return status

IMU.clearTare()

clearTare() -> int

Description

Clear all tare offsets.

Returns

Datatype	Description
int	Return status

IMU.disableAccelerometer()

disableAccelerometer() -> int

Description

Disable accelerometer data.

Returns

Datatype	Description
int	Return status

IMU.disableGravity()

disableGravity() -> int

Description

Disable gravity data.

Returns

Datatype	Description
int	Return status

IMU.disableGyro()

disableGyro() -> int

Description

Disable gyroscope data.

Returns

Datatype	Description
int	Return status

IMU.disableLinearAccelerometer()

disableLinearAccelerometer() -> int

Description

Disable linear accelerometer data.

Returns

Datatype	Description
int	Return status

IMU.disableMagnetometer()

disableMagnetometer() -> int

Description

Disable magnetometer data.

Returns

Datatype	Description
int	Return status

IMU.disableRawAccelerometer()

disableRawAccelerometer() -> int

Description

Disable raw accelerometer data.

Returns

Datatype	Description
int	Return status

IMU.disableRawGyro()

disableRawGyro() -> int

Description

Disable raw gyroscope data.

Returns

Datatype	Description
int	Return status

IMU.disableRawMagnetometer()

disableRawMagnetometer() -> int

Description

Disable raw magnetometer data.

Returns

Datatype	Description
int	Return status

IMU.disableRotationVector()

disableRotationVector() -> int

Description

Disable rotation vector data.

Returns

Datatype	Description
int	Return status

IMU.disableUncalibratedGyro()

disableUncalibratedGyro() -> int

Description

Disable uncalibrated gyroscope data.

Returns

Datatype	Description
int	Return status

IMU.enableAccelerometer()

enableAccelerometer(time_interval: int) -> int

Description

Enable accelerometer data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableGravity()

enableGravity(time_interval: int) -> int

Description

Enable gravity data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableGyro()

enableGyro(time_interval: int) -> int

Description

Enable gyroscope data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableLinearAccelerometer()

enableLinearAccelerometer(time_interval: int) -> int

Description

Enable linear accelerometer data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableMagnetometer()

enableMagnetometer(time_interval: int) -> int

Description

Enable magnetometer data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableRawAccelerometer()

enableRawAccelerometer(time_interval: int) -> int

Description

Enable raw accelerometer data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableRawGyro()

enableRawGyro(time_interval: int) -> int

Description

Enable raw gyroscope data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableRawMagnetometer()

enableRawMagnetometer(time_interval: int) -> int

Description

Enable raw magnetometer data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableRotationVector()

enableRotationVector(time_interval: int) -> int

Description

Enable rotation vector data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enableUncalibratedGyro()

enableUncalibratedGyro(time_interval: int) -> int

Description

Enable uncalibrated gyroscope data and configure it.

Parameters

Datatype	Variable	Description
int	time_interval	interval in milliseconds

Returns

Datatype	Description
int	Return status

IMU.enterDFUMode()

enterDFUMode() -> int

Description

Enter Device Firmware Update Mode.

Returns

Datatype	Description
int	Return Status.

IMU.eraseConfigurations()

eraseConfigurations() -> int

Description

Erase the saved configurations from non-volatile memory.

Returns

Datatype	Description
int	Return status

IMU.getAccelerometerData()

getAccelerometerData() ->  'tuple[float, float, float, int]'

Description

Retrieve the accelerometer data from the IMU.

Returns

Datatype	Description
'tuple[float,float,float,int]'	Tuple containing acceleration values (x, y, z) in m/s² and accuracy

IMU.getCalibrationStatus()

getCalibrationStatus() ->  'tuple[int, bool]'

Description

Get the current calibration status.

Returns

Datatype	Description
'tuple[int,bool]'	Tuple containing return status and calibration completion status

IMU.getEulerAngles()

getEulerAngles() ->  'tuple[float, float, float]'

Description

Retrieve the Euler angles from the IMU.

Returns

Datatype	Description
'tuple[float,float,float]'	Tuple containing Euler angles (yaw, pitch, roll) in degrees

IMU.getFirmwareCommit()

getFirmwareCommit() ->  'tuple[int, str]'

Description

Get the IMU firmware's commit hash.

Returns

Datatype	Description
'tuple[int,str]'	Tuple containing return status and the commit hash string.

IMU.getFirmwareVersion()

getFirmwareVersion() ->  'tuple[int, int, int, int]'

Description

Get the IMU firmware's major, minor and revision information.

Returns

Datatype	Description
'tuple[int,int,int,int]'	Tuple containing return status, major, minor and revision information.

IMU.getGravityData()

getGravityData() ->  'tuple[float, float, float]'

Description

Retrieve the gravity data from the IMU.

Returns

Datatype	Description
'tuple[float,float,float]'	Tuple containing gravity values (x, y, z) in g

IMU.getGyroData()

getGyroData() ->  'tuple[float, float, float, int]'

Description

Retrieve the gyroscope data from the IMU.

Returns

Datatype	Description
'tuple[float,float,float,int]'	Tuple containing gyro values (x, y, z) in radians per second and accuracy

IMU.getHardwareVersion()

getHardwareVersion() ->  'tuple[int, int, int, int, int]'

Description

Get the IMU hardware's current tag, major, minor and variant information.

Returns

Datatype	Description
'tuple[int,int,int,int,int]'	Tuple containing return status, tag, major, minor and variant information.

IMU.getLinearAccelerometerData()

getLinearAccelerometerData() ->  'tuple[float, float, float, int]'

Description

Retrieve the linear accelerometer data from the IMU.

Returns

Datatype	Description
'tuple[float,float,float,int]'	Tuple containing linear acceleration values (x, y, z) in m/s² and accuracy

IMU.getMagnetometerData()

getMagnetometerData() ->  'tuple[float, float, float, int]'

Description

Retrieve the magnetometer data from the IMU.

Returns

Datatype	Description
'tuple[float,float,float,int]'	Tuple containing magnetometer values (x, y, z) in uTesla and accuracy

IMU.getNodeId()

getNodeId() ->  'tuple[int, int]'

Description

Get current Node ID of the NIMU.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the current Node ID.

IMU.getRawAccelerometerData()

getRawAccelerometerData() ->  'tuple[int, int, int]'

Description

Retrieve the raw accelerometer data from the IMU.

Returns

Datatype	Description
'tuple[int,int,int]'	Tuple containing raw accelerometer values (x, y, z)

IMU.getRawGyroData()

getRawGyroData() ->  'tuple[int, int, int]'

Description

Retrieve the raw gyroscope data from the IMU.

Returns

Datatype	Description
'tuple[int,int,int]'	Tuple containing raw gyro values (x, y, z)

IMU.getRawMagnetometerData()

getRawMagnetometerData() ->  'tuple[int, int, int]'

Description

Retrieve the raw magnetometer data from the IMU.

Returns

Datatype	Description
'tuple[int,int,int]'	Tuple containing raw magnetometer values (x, y, z)

IMU.getRotationVectorAccuracy()

getRotationVectorAccuracy() ->  'tuple[float, int]'

Description

Retrieve the rotation vector accuracy data from the IMU.

Returns

Datatype	Description
'tuple[float,int]'	Tuple containing (quat_rad_accuracy, quat_accuracy) rotation vector accuracy

IMU.getRotationVectorData()

getRotationVectorData() ->  'tuple[float, float, float, float]'

Description

Retrieve the rotation vector data from the IMU.

Returns

Datatype	Description
'tuple[float,float,float,float]'	Tuple containing (quat_i, quat_j, quat_k, quat_real) quaternion components

IMU.getUncalibratedGyroBiasData()

getUncalibratedGyroBiasData() ->  'tuple[float, float, float]'

Description

Retrieve the uncalibrated gyroscope bias data from the IMU getEncoderRawData.

Returns

Datatype	Description
'tuple[float,float,float]'	Tuple containing uncalibrated gyro bias values (x, y, z) in radians per second

IMU.getUncalibratedGyroData()

getUncalibratedGyroData() ->  'tuple[float, float, float]'

Description

Retrieve the uncalibrated gyroscope data from the IMU.

Returns

Datatype	Description
'tuple[float,float,float]'	Tuple containing uncalibrated gyro values (x, y, z) in radians per second

IMU.rebootNIMU()

rebootNIMU() -> int

Description

Reboot the NIMU device.

Returns

Datatype	Description
int	Return Status.

IMU.saveCalibration()

saveCalibration() -> int

Description

Save calibration data to non-volatile memory.

Returns

Datatype	Description
int	Return status

IMU.saveConfigurations()

saveConfigurations() -> int

Description

Save the current configurations to non-volatile memory.

Returns

Datatype	Description
int	Return status

IMU.setNodeId()

setNodeId(id: int) -> int

Description

Set the node id for the NIMU.

Parameters

Datatype	Variable	Description
int	id	Device ID of the NIMU

Returns

Datatype	Description
int	Return Status

IMU.setOrientation()

setOrientation(i: float, j: float, k: float, real: float) -> int

Description

Set the sensor orientation using a quaternion.

Parameters

Datatype	Variable	Description
float	i	The i component of the quaternion
float	j	The j component of the quaternion
float	k	The k component of the quaternion
float	real	The real component of the quaternion

Returns

Datatype	Description
int	Return status

IMU.startCalibration()

startCalibration(accel: bool, gyro: bool, mag: bool, planarAccel: bool) -> int

Description

Start calibration process and configure it.

Parameters

Datatype	Variable	Description
bool	accel	Enable accelerometer calibration
bool	gyro	Enable gyroscope calibration
bool	mag	Enable magnetometer calibration
bool	planarAccel	Enable planar accelerometer calibration

Returns

Datatype	Description
int	Return status

IMU.stopCalibration()

stopCalibration() -> int

Description

Stop the ongoing calibration process.

Returns

Datatype	Description
int	Return status

IMU.tareAll()

tareAll() -> int

Description

Apply tare to all axes of the IMU.

Returns

Datatype	Description
int	Return status

IMU.tareYaw()

tareYaw() -> int

Description

Apply tare to the Z-axis (yaw)

Returns

Datatype	Description
int	Return status