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By now, is it possible to read IMU raw data using python?

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asked Jun 29 in Programmer Questions by zskalibr (300 points)

1 Answer

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yes and no. You can read the raw IMU registers using jevois.readIMUregister(addr)

please see https://github.com/jevois/jevois/commit/e074f74c7015305fb940ebbea8c636c54d90b423#diff-93020f93a3a29484e00e0982d3419dcd

which should be ok to just get the raw acceleration, gyro, etc data. But getting the DMP and compass all configured and hooked up takes a lot of setup that is in https://github.com/jevois/jevois/blob/master/src/jevois/Core/ICM20948.C

If you look at getRaw() in there, for mode RAW, you will see that you can get the raw data by reading the values starting at address ICM20948_REG_ACCEL_XOUT_H_SH which is defined in include/jevois/Core/ICM20948_regs.H

answered Jun 30 by JeVois (46,200 points)
Thanks. How can python script control the IMU configuration similar to c++ like arange, abw? Currently, the raw data is obtained by python (read and register). One problem I met is the IMU range varies when reading the data. In that case, the maximal range varies between 8g and 16g. Actually, this does not affect the scaled values. Is there a method to fix that? And I'd like to open the low-pass filter for IMU. Is it possible to achieve that?