BMI160 SoftFusion implementation #80

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MrUnknownDE · 2026-04-05T17:51:48+02:00

MrUnknownDE commented

2026-04-05 17:51:48 +02:00

Originally created by @kounocom on 5/12/2025

This PR replaces the current BMI160 implementation with a lightweight SoftFusion driver, closing #442 and possibly #234.

Currently, this would remove some significant features of the BMI160 -- mainly temperature calibration, sensitivity calibration, and magnetometer support -- though temperature calibration is made somewhat redundant by VQF's motion bias estimation and 2-point gyro calibration, and sensitivity is helped by timestep calibration. Magnetometer support would depend on #395.

*Originally created by @kounocom on 5/12/2025* This PR replaces the current BMI160 implementation with a lightweight SoftFusion driver, closing #442 and possibly #234. Currently, this would remove some significant features of the BMI160 -- mainly temperature calibration, sensitivity calibration, and magnetometer support -- though temperature calibration is made somewhat redundant by VQF's motion bias estimation and 2-point gyro calibration, and sensitivity is helped by timestep calibration. Magnetometer support would depend on #395.

MrUnknownDE closed this issue

2026-04-05 17:51:48 +02:00

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Reference: github/SlimeVR-Tracker-ESP#80