[sfusion, BMI270] Perform gryo motionless calibration before gyro offset calibration #156

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

MrUnknownDE commented

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

Originally created by @jabberrock on 11/23/2024

On a normal reset, we set the CRT (motionless) registers at startup, and then apply the calibrated gryo offset to every gyro sample.

Previously, we performed gyro offset calibration before CRT calibration. This means that we are actually calculating the gyro offset based on a CRT of 0, instead of the actual CRT.

This change performs CRT calibration before gyro calibration, so that the gryo offset is based on the actual CRT.

Cherry-picked from:
2424b2ff08
cf349886c1

*Originally created by @jabberrock on 11/23/2024* On a normal reset, we set the CRT (motionless) registers at startup, and then apply the calibrated gryo offset to every gyro sample. Previously, we performed gyro offset calibration before CRT calibration. This means that we are actually calculating the gyro offset based on a CRT of 0, instead of the actual CRT. This change performs CRT calibration before gyro calibration, so that the gryo offset is based on the actual CRT. Cherry-picked from: https://github.com/l0ud/SlimeVR-Tracker-ESP-BMI270/commit/2424b2ff08197c6b2d236714d8ca6de929c6bbe9 https://github.com/l0ud/SlimeVR-Tracker-ESP-BMI270/commit/cf349886c1e1bf562ea033df31ec04e52e83358f

MrUnknownDE closed this issue

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

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Reference: github/SlimeVR-Tracker-ESP#156