Dynamic Sfusion #160

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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 @gorbit99 on 11/12/2024

This PR makes the following changes:

IMU Support: adds support for icm45686, icm45605, and lsm6ds3 (non tr-c version)
Adds nonblocking calibration
- The tracker detects when it's at rest and calibrates itself
- The calibration is then used the next time the tracker starts up
- This replaces manual calibration and is set as the default
Adds per sensor VQF parameters, so each IMU can be fine tuned
Enables VQF's MBE feature by default, and modifies VQF to be somewhat temperature aware
Adds the DELCAL serial command to only delete the IMU calibration without having to delete WIFI data
Adds 32 bit sensor sample support into sfusion
Overclocks the ESP, so no fifo overruns happen

*Originally created by @gorbit99 on 11/12/2024* This PR makes the following changes: 1. IMU Support: adds support for icm45686, icm45605, and lsm6ds3 (non tr-c version) 2. Adds nonblocking calibration - The tracker detects when it's at rest and calibrates itself - The calibration is then used the next time the tracker starts up - This replaces manual calibration and is set as the default 3. Adds per sensor VQF parameters, so each IMU can be fine tuned 4. Enables VQF's MBE feature by default, and modifies VQF to be somewhat temperature aware 5. Adds the DELCAL serial command to only delete the IMU calibration without having to delete WIFI data 6. Adds 32 bit sensor sample support into sfusion 7. Overclocks the ESP, so no fifo overruns happen

MrUnknownDE closed this issue

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

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Reference: github/SlimeVR-Tracker-ESP#160