✨ Adds imu calibration

2025-12-24 12:53:20 +01:00
parent e22ac69e9b
commit 3be08a31ed
6 changed files with 82 additions and 1 deletions
@@ -185,4 +185,15 @@ void Peripherals::getSonarResult(JsonVariant &root) {
    array[0] = _left_distance;
    array[1] = _right_distance;
 #endif
+}
+
+bool Peripherals::calibrateIMU() {
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+    beginTransaction();
+    bool result = _imu.calibrate();
+    endTransaction();
+    return result;
+#else
+    return false;
+#endif
 }