IMU Saturation

[HebiMigrator]

Greetings,

I am wondering if you all have any additional datasheets for the IMU inside the X8-9 modules?

Specifically, I am trying to figure out at what point the Accelerometer/Gyro readings become saturated?

Thanks,
Hans

Originally posted by kumarhans on forums.hebi.us » Thu Nov 12, 2020 2:39 am

[HebiMigrator]

Hi Hans,

The IMUs in all of the modules are set to saturate at 2G acceleration and 2000 degrees/second rotational speed. I don't believe we expose this in the API.

The IMU in the module is either a TDK ICM-20602 or MPU-6500, which have similar specs.

Thanks,

• Curtis

Originally posted by curtis_layton on forums.hebi.us » Thu Nov 12, 2020 12:51 pm

[HebiMigrator]

Great, thanks Curtis!

-Hans

Originally posted by kumarhans on forums.hebi.us » Wed Nov 18, 2020 11:25 pm

[HebiMigrator]

Adding on to this, as of ~Oct 2021 and thru today, the actuators use the TDK InvenSense ICM-42605. This includes both the X-Series and R-Series.

The latest revision of the IO Boards uses the TDK InvenSense IIM-42652.

It's also worth noting that if you are trying to determine the orientation of the actuator from the IMU there is also an onboard state estimator that fuses the accelerometer and gyro data into a quaternion pose estimate.

There is also a 'zero-update' heuristic that runs on the gyro data in firmware that works to reduce gyro offset 'drift'.

Thanks,
-Dave

Originally posted by dave_rollinson on forums.hebi.us » Mon Mar 20, 2023 12:02 pm