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() → Tuple[float, float, float]

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() → Tuple[float, float, float]

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() → float

Returns the temperature in celsius (float).

imu.roll() → float

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

  • 0 -> Camera is standing up.

  • 90 -> Camera is rotated left.

  • 180 -> Camera is upside down.

  • 270 -> Camera is rotated right.

imu.pitch() → float

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: bool) → None

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

imu.__write_reg(addr: int, val: int) → None

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

imu.__read_reg(addr: int) → int

Get 8-bit LSM6DS3 register addr.