make bmi088 work and other updates #23
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@harismalik-1 helped a lot with this PR |
imu/bmi088/src/lib.rs
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| /// Updates the simple Euler integration state based on gyroscope data. | ||
| pub fn update_simple_euler(&mut self, dt: f32) -> Result<(), Error> { |
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How well does this work right now?
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surprisingly good, but yes this is a todo to fix.
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This is removed, and the complimentary filter logic is now in this PR zeroth-robotics/zeroth-bot#93 in for kos-zbot this commit 0badf6d
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| let mut sensor_data = Bmi088Data::default(); |
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We might want to be careful with what we set default data too. E.g. if we fail to read data, what should we put in here?
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Or maybe we want to keep the last valid reading and keep track of how old they are? Definitely not a priority, but something to think about for later. How does the bno055 reader implementation handle this rn?
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hmm good points, I haven;t thought about this.
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okay so just checked and they both have the default value to all zeroes, and they return that if the sensor readings fail I believe. I also think this should be set to the last known values, but low priority I think cause it has never caused an issue so far.
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ok all the crates have been updated, merging. |
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