Support dual MPU9250, change to dmp based fusion from mahony. #465

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

MrUnknownDE commented

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

Originally created by @Boronare on 12/18/2021

Calibration code from #32 : fixed memory leakage, etc...

Support multi MPUs.

Using dmp like MPU6050 with magnetic calibration based on direction cosine matrix.

Magnetic calibration can be tick-skipped, so it has close to 100 TPS.

Issue : Have to wait for reaching absolute rotation. Need initializing code to be added.
Issue2 : How to invoke calibration? I used "Turn on while flipped back, then flip again" to invoke calibration.

*Originally created by @Boronare on 12/18/2021* Calibration code from #32 : fixed memory leakage, etc... Support multi MPUs. Using dmp like MPU6050 with magnetic calibration based on direction cosine matrix. Magnetic calibration can be tick-skipped, so it has close to 100 TPS. Issue : Have to wait for reaching absolute rotation. Need initializing code to be added. Issue2 : How to invoke calibration? I used "Turn on while flipped back, then flip again" to invoke calibration.

MrUnknownDE closed this issue

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

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Reference: github/SlimeVR-Tracker-ESP#465