Skip to main content

IMU

IMU telemetry and configuration.

The IMU tab shows live orientation and axis data (accelerometer, gyroscope, magnetometer when present) and exposes runtime tuning controls for the IMU driver/fusion.

Live Telemetry​

The UI prefers the live IMU WebSocket stream (/v1/ws/imu) and falls back to periodic polling (GET /v1/device/imu) when needed.

You can use this tab to:

  • Verify the IMU is producing samples (updated timestamp, delta t).
  • Inspect roll/pitch/yaw and quaternion-based orientation.
  • Inspect accelerometer and gyro traces over time.

Runtime Config​

Common runtime settings include:

  • Fusion method: choose the fusion algorithm/strategy exposed by the device.
  • Angle range: pick the IMU measurement range option exposed by the device.
  • Update interval: adjust the IMU sample interval in milliseconds.

Heading and frame helpers:

  • Yaw reference (deg): offset heading without affecting roll/pitch.
  • Zero yaw: set current yaw as zero.
  • Gravity alignment: choose which device axis is "up" and align to it.
  • Snap gravity: quick alignment assuming the device is held still on a flat face.

These controls apply immediately to the running IMU runtime (PATCH /v1/device/imu).

Troubleshooting​

  • If the IMU shows Idle or no samples, use the I2C tab to confirm the IMU is detected.
  • If telemetry is unavailable, check Logs for helios-peripherals.service errors.