IMU Calibration on OAK-FFC-4P

MG_

Hey, is there any way I can calibrate the IMU? I'm getting some oscillating metrics, so I'd like to confirm is not a calibration issue of the IMU.

jakaskerl

Hi MG_
DepthAI platform does not provide a direct method to calibrate the IMU. However, the IMU sensors on the OAK devices, either BNO085 or BMI270, provide both raw and calibrated data. For instance, the gyroscope provides GYROSCOPE_RAW data straight from the sensor and GYROSCOPE_CALIBRATED data which is the angular velocity of the device.

If you are experiencing oscillating metrics, it could be due to the frequency of the IMU sensor. For example, the BNO086 gyroscope can operate at a maximum frequency of 1000Hz, but only up to 400Hz is stable due to driver limitations. Frequencies above 400Hz can produce some jitter from time to time due to sensor hardware limitations.

Thanks,
Jaka

MG_

Thanks for your reply, I tried using GYROSCOPE_CALIBRATED but my OAK-FFC-4P has the BMI270 module. It shows the error below:

IMU invalid settings!: GYROSCOPE_CALIBRATED output is unsupported. BMI270 supports only ACCELEROMETER_RAW and/or GYROSCOPE_RAW outputs

I'm actually getting oscillating metrics, I'll check out the frequency of the IMU sensor, any other ideas?

Thanks for your help.

jakaskerl

Hi MG_
Sorry for the late reply.
Since the BMI doesn't support a calibrated output, it means it can't be recalibrated on device. The calibration itself has to be done on host side, after you have received messages from the device.

This can be done using kalibr or manually if you'd like.

Thanks,
Jaka