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Coordinate convention for IMU #71

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deeplycloudy opened this issue Dec 11, 2022 · 1 comment
Open

Coordinate convention for IMU #71

deeplycloudy opened this issue Dec 11, 2022 · 1 comment

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@deeplycloudy
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deeplycloudy commented Dec 11, 2022 •
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The LSM9DS1 has a right-handed convention for the magnetometer coordinate system and left-handed for the accelerometer and gyro. This results in x pointing in different directions, while y and z are always the same.
947FB6F1-490E-4168-A6CC-3FBA74D00A7B

If I’m locating pin one correctly, it looks like -y always points to the top of the card for all three sensors.
EFM rotating digital board

Is this common to all IMUs? I’d like to put the right cautionary language in the signal processing code should the IMU change some day.

Suggest noting these facts in the readme or another doc location.
@jrleeman
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jrleeman commented Jan 8, 2023

Based on other IMU datasheets (I just picked a few) I don't think it is universal. It appears to be pseudo-random. Goodie.

BNO08X

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ISM330DHCX, MMC5983MA Combo

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@jrleeman @deeplycloudy