This tool allows to view in 3D the output of various orientation estimation algorithms, fed by a IMU sensor, connected to a Raspberry Pi. Supported sensors are:
- MPU6000 (I2C mode)
- MPU6050 (I2C mode)
- MPU6500 (I2C mode)
- ICM20600 (I2C mode)
- ICM20601 (I2C mode)
- ICM20602 (I2C mode)
This tool is intended to:
- provide a zero-dependencies, ready-to-use tool to test IMUs
- provide a starting point to anyone wishing to explore the field of orientation estimation
-
On the Raspberry Pi, enable I2C in fast-speed mode: edit
/boot/config.txt
and add:dtparam=i2c_arm=on dtparam=i2c_arm_baudrate=400000
then edit
/etc/modules
and addi2c-dev
then reboot the system.
-
Install the dependencies:
sudo apt install -y git make gcc libc6-dev libi2c-dev libraspberrypi-dev
-
Clone this repository:
git clone https://github.com/aler9/raspberry-imu-viewer cd raspberry-imu-viewer
-
Build:
make
-
Launch:
./raspberry-imu-viewer