Magnetometer support in sfusion #183

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MrUnknownDE · 2026-04-05T17:52:09+02:00

MrUnknownDE commented

2026-04-05 17:52:09 +02:00

Originally created by @furrycoding on 8/23/2024

Added magnetometer support for sfusion sensors
Currently, only LSM6DSR with QMC5883L via sensor hub is supported (LSM6DSO might work, DSV probably won't since I didn't even look at the datasheet lol)

Sensors that support magnetometers receive a driver for it as a template argument. That driver is structured pretty much like a normal sfusion driver. Later I want to also add an option to pass it directly to SoftFusionSensor (for mags that are directly connected to the main I2C bus)

TODO:

~~Add axis remapping~~
Support mag driver passed directly to SoftFusionSensor
Check the registers and test LSM6DSO/DSV
Disable mag calibartion when there's no driver
Fine-tune magnetic disturbance rejection in VQF
Detecting errors when I2C writes to mag fail

*Originally created by @furrycoding on 8/23/2024* Added magnetometer support for sfusion sensors Currently, only LSM6DSR with QMC5883L via sensor hub is supported (LSM6DSO might work, DSV probably won't since I didn't even look at the datasheet lol) Sensors that support magnetometers receive a driver for it as a template argument. That driver is structured pretty much like a normal sfusion driver. Later I want to also add an option to pass it directly to `SoftFusionSensor` (for mags that are directly connected to the main I2C bus) ### TODO: - ~~Add axis remapping~~ - Support mag driver passed directly to `SoftFusionSensor` - Check the registers and test LSM6DSO/DSV - Disable mag calibartion when there's no driver - Fine-tune magnetic disturbance rejection in VQF - Detecting errors when I2C writes to mag fail

MrUnknownDE closed this issue

2026-04-05 17:52:09 +02:00

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Reference: github/SlimeVR-Tracker-ESP#183