AMOS_IMU_UserGuide

ManualsBrandsIn Nature Robotics ManualsMechanicsAMOS Board Kit

In Nature Robotics Ltd. www.innaturerobotics.com

AMOS-IMU User Guide

Introduction

The AMOS-IMU is an inertial measurement unit that can be used for precisely

measuring the orientation of a device in a dynamic environment. It includes triaxial

accelerometers, magnetometers, and angular rate (gyroscope) sensors that allow for

the computation of 3-D orientation angles in real-time. In Nature Robotics Ltd. provides

software libraries and individual calibration data for each AMOS-IMU device.

Please refer to the following additional documents concerning the individual component

pieces of the AMOS-IMU:

altimu-10-v5-dimension-diagram.pdf: Dimension diagram of the circuit board used.

Summary of content (8 pages)

PAGE 1
In Nature Robotics Ltd. www.innaturerobotics.com AMOS-IMU User Guide Copyright 2020, In Nature Robotics Ltd. Introduction The AMOS-IMU is an inertial measurement unit that can be used for precisely measuring the orientation of a device in a dynamic environment. It includes triaxial accelerometers, magnetometers, and angular rate (gyroscope) sensors that allow for the computation of 3-D orientation angles in real-time. In Nature Robotics Ltd.
PAGE 2
In Nature Robotics Ltd. www.innaturerobotics.com altimu-10-v5-schematic.pdf: Schematic diagram of the circuit board used. LIS3MDL-AN4602.pdf: Application note for the 3-axis digital output magnetic sensor. LIS3MDL.pdf: 3-axis ultra-low power, high performance digital output magnetic sensor. LSM6DS33.pdf: iNEMO inertial module: always-on 3D accelerometer and 3D gyroscope LPS25H.pdf: MEMS pressure sensor: 260-1260 hPa absolute digital output barometer UM10204.
PAGE 3
In Nature Robotics Ltd. www.innaturerobotics.com General Specifications For detailed specifications, please refer to the documents described above. Interface Minimum operating voltage Maximum operating voltage Axes Measurement ranges Supply current I2C 2.5V 5.
PAGE 4
In Nature Robotics Ltd. www.innaturerobotics.com Pin names / functions for AMOS-IMU: NC VIN GND SDA SCL No connect, leave open Input voltage, 2.5V to 5.5V Ground 2 I C data line I2C clock line Sample Code Arduino Uno Sample Code The following program collects data from the accelerometers, magnetometers, gyros, and temperature sensors. It requires some modified LIS3MDL and LSM6 library files to be installed. These files are available from the In Nature Robotics support page: https://www.innaturerobotics.
PAGE 5
In Nature Robotics Ltd. www.innaturerobotics.com //program for testing the output of the AMOS-IMU module as a function of temperature //outputs lines of data out serial port (i.e. does not save any data locally) #include #include #include LIS3MDL mag; LSM6 imu; LIS3MDL::vector magData; void setup() { // put your setup code here, to run once: Serial.begin(9600); Wire.begin(); if (!mag.init()) { Serial.
PAGE 6
In Nature Robotics Ltd. www.innaturerobotics.com Serial.print(imu.a.z); Serial.print(", "); Serial.print(imu.g.x); Serial.print(", "); Serial.print(imu.g.y); Serial.print(", "); Serial.print(imu.g.z); Serial.print(", "); Serial.print(imu.m_fTempDegC); Serial.
PAGE 7
In Nature Robotics Ltd. www.innaturerobotics.com * @param argc the number of program arguments * @param argv an array of character pointers that corresponds to the program arguments * @return true if a magnetometer calibration flag (-magcal) is present in the array of program arguments * @return false if no magnetometer calibration flag is present in the array of program arguments.
PAGE 8
In Nature Robotics Ltd. www.innaturerobotics.com } IMU_DATASAMPLE imu_sample; for (int i=0;i