Support for Gyro-Integrated Rotation Vector

[Nate711]

Just creating this issue to notify you that I'm working on adding support for the gyro-integrated rotation vector input report. This 'sensor' reports an absolute rotation quaternion and angular velocity at up to 1000Hz which I think could help many people using this sensor for robots with fast dynamics such as drones or legged robots.
https://github.com/nate711/SparkFun_BNO080_Arduino_Library. I'll make a PR once testing is done. Thanks for your work!

[vitorsotero]

I gave it a try and got this compilation error:

`C:\Users\Sotero\Documents\Arduino\libraries\SparkFun_BNO080_Arduino_Library\src\SparkFun_BNO080_Arduino_Library.cpp:508:28: error: no 'float BNO080::getFastGyroX()' member function declared in class 'BNO080'

float BNO080::getFastGyroX()

                        ^

C:\Users\Sotero\Documents\Arduino\libraries\SparkFun_BNO080_Arduino_Library\src\SparkFun_BNO080_Arduino_Library.cpp:515:28: error: no 'float BNO080::getFastGyroY()' member function declared in class 'BNO080'

float BNO080::getFastGyroY()

                        ^

C:\Users\Sotero\Documents\Arduino\libraries\SparkFun_BNO080_Arduino_Library\src\SparkFun_BNO080_Arduino_Library.cpp:522:28: error: no 'float BNO080::getFastGyroZ()' member function declared in class 'BNO080'

float BNO080::getFastGyroZ()

                        ^

C:\Users\Sotero\Documents\Arduino\libraries\SparkFun_BNO080_Arduino_Library\src\SparkFun_BNO080_Arduino_Library.cpp:830:76: error: no 'void BNO080::enableGyroIntegratedRotationVector(uint16_t)' member function declared in class 'BNO080'

void BNO080::enableGyroIntegratedRotationVector(uint16_t timeBetweenReports)

                                                                        ^

exit status 1
Erro compilando para a placa Arduino Nano`

[Nate711]

Thanks for pointing that out! Please try again with the new code.

[vitorsotero]

Now I can compilate, but it doesn't show any results.

When I call "myIMU.enableGyroIntegratedRotationVector(1);", it doesn't change the color to orange (arduino code). It differs from the other functions (ex: myIMU.getQuatI();)

[nseidle]

Very cool! Please continue your work. We'd welcome a PR to add more features.

[badVibes--]

I managed to make this work and made a pull request (my first ever \o/). I have to give credit to Nate711 because I started from one of his old commits. Don't know how to pull in old stuff so the chain would be intact. The code is not in Nates current branch:/.

Anyway, it works and its fast.

[spiderolsen]

I managed to make this work and made a pull request (my first ever \o/). I have to give credit to Nate711 because I started from one of his old commits. Don't know how to pull in old stuff so the chain would be intact. The code is not in Nates current branch:/.

Anyway, it works and its fast.

Hi badVibes,

I´ve just tested your rewritten library. Unfortunately with your changes it is not possible to turn town myIMU.enableGyroIntegratedRotationVector(5); below 5ms without freezing an arduino nano. With the normal sparkfun library it is possible to send a update every 1ms and the loop void runs about 250Hz. I think an arduino nano will crash as soon as the loop void is faster than around 250Hz. At myIMU.enableGyroIntegratedRotationVector(5); the loop void is runnging at 190-200Hz.

[badVibes--]

I´ve just tested your rewritten library. Unfortunately with your changes it is not possible to turn town myIMU.enableGyroIntegratedRotationVector(5); below 5ms without freezing an arduino nano. With the normal sparkfun library it is possible to send a update every 1ms and the loop void runs about 250Hz. I think an arduino nano will crash as soon as the loop void is faster than around 250Hz. At myIMU.enableGyroIntegratedRotationVector(5); the loop void is runnging at 190-200Hz.

Hey spiderolsen, that seems strange. One thing that comes to mind is that the nano might be too slow. I tested all this on teensy 3.2 & 3.6 which are quite a bit faster. If you request a 1ms update for any other rotation vector it will not send it any faster than 400hz. How are you interfacing with the sensor, I2C or SPI?

If you are using SPI you could try the Tare branch on my repo. I added some fixes for SPI and a method to configure the FRS record of the Gyro Integrated Rotation Vector. Its still not fully tested but maybe it helps. I know SPI example didn't really work for me before the fix.

[PaulZC]

Hi @Nate711 & @badVibes-- ,
I've just merged PR #41 which adds support for the Gyro-Integrated Rotation Vector.
I'm going to close this issue but please feel free to reopen it if we have missed anything.
Best wishes,
Paul