✨ Adds imu calibration

2025-12-24 12:53:20 +01:00
parent e22ac69e9b
commit 3be08a31ed
6 changed files with 82 additions and 1 deletions
@@ -123,6 +123,26 @@ class IMU : public SensorBase<IMUAnglesMsg> {

    float getAngleZ() { return _msg.rpy[0]; }

+    bool calibrate() {
+#if FT_ENABLED(USE_MPU6050)
+        if (!_msg.success) return false;
+        ESP_LOGI("IMU", "Starting calibration...");
+        _imu.CalibrateGyro(6);
+        _imu.CalibrateAccel(6);
+        ESP_LOGI("IMU", "Calibration complete");
+        return true;
+#elif FT_ENABLED(USE_BNO055)
+        if (!_msg.success) return false;
+        ESP_LOGI("IMU", "Starting calibration...");
+        adafruit_bno055_offsets_t offsets;
+        bool result = _imu.getSensorOffsets(offsets);
+        ESP_LOGI("IMU", "Calibration complete");
+        return result;
+#else
+        return false;
+#endif
+    }
+
  private:
 #if FT_ENABLED(USE_MPU6050)
    MPU6050 _imu;
@@ -74,6 +74,8 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
    float leftDistance();
    float rightDistance();

+    bool calibrateIMU();
+
    StatefulHttpEndpoint<PeripheralsConfiguration> endpoint;

  private: