Make sensor fusion algorithm IMU-independent #451

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MrUnknownDE · 2026-04-05T17:53:01+02:00

MrUnknownDE commented

2026-04-05 17:53:01 +02:00

Originally created by @TheButlah on 1/5/2022

There is a sensor fusion algorithm being used right now to fuse the dmp-enabled 6dof gyro + accel data in the MPU9250 with the magnetometer.

Would it be possible to extract this code into an IMU-agnostic class? That way it could be easier used in other IMUs. Also, my understanding was that mahoney can be used for 9dof or for 6dof. Can we make the class able to do either? This would be useful because the ICM-20602 does not have a DMP so it must run the fusion on the ESP.

*Originally created by @TheButlah on 1/5/2022* There is a sensor fusion algorithm being used right now to fuse the dmp-enabled 6dof gyro + accel data in the MPU9250 with the magnetometer. Would it be possible to extract this code into an IMU-agnostic class? That way it could be easier used in other IMUs. Also, my understanding was that mahoney can be used for 9dof or for 6dof. Can we make the class able to do either? This would be useful because the ICM-20602 does not have a DMP so it must run the fusion on the ESP.

MrUnknownDE closed this issue

2026-04-05 17:53:01 +02:00

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Reference: github/SlimeVR-Tracker-ESP#451