OpenFullBody 的第一个版本Fork自SlimeVR项目。
这个固件可以让ESP8266/ESP32与不同IMU结合起来作为全身追踪传感器在VR环境下使用 Firmware for ESP8266 / ESP32 microcontrollers and different IMU sensors to use them as a vive-like trackers in VR.
需要 易追服务端 来解算姿态以及配合SteamVR进行使用。应该可以兼容 owoTrack ，但是不保证。 Requires OpenFullBody Server to work with SteamVR and resolve pose. Should be compatible with owoTrack, but is not guaranteed.
对下列IMU进行过测试并确保兼容（编译之前改源文件来选择） Compatible and tested with these IMUs (select during compilation):
- BNO085, BNO086
- 充分利用其自带的运动处理器功能，在适合的磁环境下能为AR和VR应用提供最稳定的姿态追踪。
- Using any fusion in internal DMP. Best results with ARVR Stabilized Game Rotation Vector or ARVR Stabilized Rotation Vector if in good magnetic environment
- BNO080
- 充分利用其自带的运动处理器功能，没有BNO085那么稳定，但是效果依然很棒。
- Using any fusion in internal DMP. Doesn't have BNO085's ARVR stabilization, but still gives good results.
- BNO055
- 按理来说应该和BNO080差不太多，但是更便宜。没有完全测试过。
- Should be roughly equal BNO080, but cheaper. Not tested thoroughly, please report your results on Discord if you're willing to try.
- MPU-9250
- 用算法对九轴数据融合（陀螺仪，加速度传感器以及磁传感器），需要良好的磁环境。
- Using Mahony sensor fusion of Gyroscope, Magnetometer and Accelerometer, requires good magnetic environment.
- 注意：暂时不能对其进行校准，因为服务端还没开发出对应的指令，正在努力开发这一块。可以用作MPU-6050的下属磁传感器。
- NOTE: Currently can't be calibrated due to lack of proper commands from the server. Work in progress. Can be ran as MPU-6050 below w/o magnetometer.
- MPU-6500 & MPU-6050
- 利用了自带的运动处理器功能融合六轴数据（陀螺仪和加速度传感器），可以单独使用MPU-9250的磁传感器功能，漂移比较严重。
- Using internal DMP to fuse Gyroscope and Accelerometer, can be used with MPU-9250 to use it without accelerometer, can drift substantially.
- 注意：目前版本下MPU上电时会自动校准。切记把它平放在地上，一定不要乱动它，直到它校准完成（需要花个几秒钟）。校准完成时，ESP的LED会闪烁5次
- NOTE: Currently the MPU will auto calibrate when powered on. You must place it on the ground and DO NOT move it until calibration is complete (for a few seconds). LED on the ESP will blink 5 times after calibration is over.
这个固件在ESP8266和ESP32上都能跑，在上传固件之前请根据你和IMU的连接方式修改 defines.h 里的引脚定义。 Firmware can work with both ESP8266 and ESP32. Please edit defines.h and set your pinout properly according to how you connected the IMU.