imu — imu sensor

The imu module is used for reading the 6-DOF LSM6DS3 IMU sensor under the camera sensor.

Note

The IMU sensor (and this module) is not present on all OpenMV Cam models.

Functions

imu.acceleration_mg()

Returns the acceleration for (x, y, z) in a float tuple in milli-g’s.

For when the camera board is lying on a table face up:

X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

imu.angular_rate_mdps()

Returns the angular rate for (x, y, z) in a float tuple in milli-degrees-per-second.

For when the camera board is lying on a table face up:

X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

imu.temperature_c()

Returns the temperature in celsius (float).

imu.roll()

Returns the rotation angle in degrees (float) of the camera module.

  • 0 -> Camera is standing up.
  • 90 -> Camera is roated left.
  • 180 -> Camera is upside down.
  • 270 -> Camera is rotated right.
imu.pitch()

Returns the rotation angle in degrees (float) of the camera module.

  • 0 -> Camera is standing up.
  • 90 -> Camera is pointing down.
  • 180 -> Camera is upside down.
  • 270 -> Camera is pointing up.
imu.sleep(enable)

Pass True to put the IMU sensor to sleep. False to wake it back up (the default).

imu.__write_reg(addr, val)

Set 8-bit LSM6DS3 register addr to 8-bit val.

imu.__read_reg(addr)

Get 8-bit LSM6DS3 register addr.