Sfusion mag support #395
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Sfusion mag support #395
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Instead of using a define, can you use the config boolean like in BNO? So it can be controlled from the server |
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@Eirenliel That's indeed the idea down the line (as in before I make this PR be not a draft), but for devving, this was quicker |
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Also needs support for the QMC that will be on the v1.2 slimes |
Move sensor building logic to a separate class and file Don't use templates for RegisterInterface/I2CImpl/SPIImpl This started getting ridiculous, now we can actually maintain it. Make BNO085 work again Add BNO to automatic detection, remove a bunch of others Not all IMU types are enabled right now due to code size optimization, but it could be expanded in the future with optimization of Softfusion. Pick IMU type automatically by asking it
Fix: ES32 -> ESP32
Add definitions for SlimeVR v1.2 Fix typo and add comments to quaternion sandwich function
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This PR adds sensor AUX interface mag support to sfusion IMUs.
Currently the effort is put in for the following IMUs:
And the following magnetometers attached to them:
As these are the ones easily available/used in the wild, but the PR aims to make adding support for new IMUs or magnetometers fairly straightforward.