Add support for Mixing BNO08X and MPU6XXX IMU's #472

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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 @carl-anders on 12/6/2021

This code is currently untested for any configurations except:

MPU6050 in following configurations
- Two of them
- One in 0x68
- One in 0x69

This pull request needs to be tested to make sure 2xBNO085 works, and mixing works.

If merged I will also fix the docs to include the ability to do BNO + MPU. (It will also add IMU_MPU6050_RUNTIME_CALIBRATION)

Future work:

Needs more work in defines.h. Needs to add info on how to mix and match.
We need the ability to mix and match other things, but current defines makes things weird. this commit only works as we don't use has_accell, has_gyro, has_mag. Need to do solve issue for BNO_HAS_ARVR_STABILIZATION to mix and match BNO's.

*Originally created by @carl-anders on 12/6/2021* This code is currently untested for any configurations except: * MPU6050 in following configurations * * Two of them * * One in 0x68 * * One in 0x69 **This pull request needs to be tested** to make sure 2xBNO085 works, and mixing works. If merged I will also fix the docs to include the ability to do BNO + MPU. (It will also add `IMU_MPU6050_RUNTIME_CALIBRATION`) **Future work:** * Needs more work in defines.h. Needs to add info on how to mix and match. * We need the ability to mix and match other things, but current defines makes things weird. this commit only works as we don't use has_accell, has_gyro, has_mag. Need to do solve issue for `BNO_HAS_ARVR_STABILIZATION` to mix and match BNO's.

MrUnknownDE closed this issue

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

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Reference: github/SlimeVR-Tracker-ESP#472