IMU visualization

2026-03-01 21:35:36 +01:00
parent 9786d83ab0
commit a3b5425d0f
7 changed files with 333 additions and 28 deletions
@@ -4,6 +4,11 @@

 extern LSM6DS3 imu;

+// Roll-compensation rotation matrix coefficients (computed in calibrateGyroBias).
+// Rotate device-frame [gz, gy] → world-frame [screenX, screenY].
+extern float rollSin;  // sin of device yaw on table
+extern float rollCos;  // cos of device yaw on table
+
 void imuWriteReg(uint8_t reg, uint8_t val);
 uint8_t imuReadReg(uint8_t reg);
 float readIMUTemp();