OAK IMU sensitivity/range settings

MartinPecka

Hi, what sensitivity/range settings are used in various IMUs?

For BMI270, I've found luxonis/depthai-core886 which confirms -+8g and -+2000 °/s ranges are selected in the firmware with 4-sample averaging of accel data and no averaging of gyro data.

How is it with BNO08x? And how with ICM-42688-P and its magnetometer AK09919C ?

Also, the ROS driver allows enabling magnetometer only if IMU is BNO086. Does it mean that cameras with 84 or 85 IMUs have the magnetometer but it isn't available via Depthai? I've also seen rumors that 86 is just a firmware upgrade of 85, so is it the case that all cameras with BNO085 will be software-upgraded to BNO086? I guess 84 cannot get such update, though, right? So its magnetometer is not usable? And what about AK09919C. Is it not yet supported? Or is it just missing in the ROS driver?

OskarSonc

Hey MartinPecka - BMI270 is confirmed to run at ±8g (accel) and ±2000 dps (gyro), with 4-sample accel averaging and gyro in normal mode.

In depthai-ros, magnetometer and rotation are currently gated to imuType == "BNO086", so this is mainly a ROS-driver policy. DepthAI itself does have magnetometer enums/messages.

Do you have a device with 84?
Also afaik there is no camera with AK09919C so what do you mean with that?

MartinPecka

OskarSonc Do you have a device with 84?

No, I need this data for a linrary I'm writing. Either luxonis-boards repo or docs say that some models have 84.

MartinPecka

OskarSonc Also afaik there is no camera with AK09919C so what do you mean with that?

https://docs.luxonis.com/hardware/products/OAK%204%20D says OAK4-D has it:

OskarSonc

MartinPecka my bad, i was answearing for RVC2 devices...
Checked with the team, all devices have 85/86 apart from the RVC4 devices, there was some wrong info in our docs/github about 84... There is no device with 84....
As far as RVC4 goes, there is work being done to support this for ROS, but not yet fully supported.