Dynamic Sfusion Attempt 2 #148

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MrUnknownDE · 2026-04-05T17:52:00+02:00

MrUnknownDE commented

2026-04-05 17:52:00 +02:00

Originally created by @gorbit99 on 1/5/2025

(Attempt 2)

This PR makes the following changes:

IMU support

Implemented hi-res mode for icm42 (larely untested)
Added VQF params tuneable by sensor.
VQF's MBE (motion bias estimation) feature also got enabled.

Sfusion calibration changes

Moved the original "classical" implementation into separate class called SfusionCalibration (might be a confusing name, suggestions are open).
Alongside that this PR implements "nonblocking" or "automatic" calibration, where the tracker tries to calibrate itself, whenever it detects a rest period. These new calibraions are then applied the next session.
Nonblocking calibration was made the default.

*Originally created by @gorbit99 on 1/5/2025* (Attempt 2) This PR makes the following changes: ## IMU support Implemented hi-res mode for icm42 (larely untested) Added VQF params tuneable by sensor. VQF's MBE (motion bias estimation) feature also got enabled. ## Sfusion calibration changes Moved the original "classical" implementation into separate class called SfusionCalibration (might be a confusing name, suggestions are open). Alongside that this PR implements "nonblocking" or "automatic" calibration, where the tracker tries to calibrate itself, whenever it detects a rest period. These new calibraions are then applied the next session. Nonblocking calibration was made the default.

MrUnknownDE closed this issue

2026-04-05 17:52:00 +02:00

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Reference: github/SlimeVR-Tracker-ESP#148