task_imu module

task_imu.py

Cooperative scheduler task that manages the BNO055 IMU sensor. The task moves through the following states:

• S0_BEGIN: Initialize the IMU and attempt to restore a saved

  calibration from flash.

• S1_CALIBRATE: Wait until all subsystems reach full calibration,

  then save offsets to flash.

• S2_IDLE: Dispatch mode commands (load/save calibration, tare,

  read values, get calibration status, or run NDOF).

• S3_RUN_NDOF: Read heading and heading-rate from the IMU and publish

  them to shares, then return to idle.

• S4_SAVE_CALIB: Persist current calibration offsets and tare values.

• S5_LOAD_CALIB: Restore calibration offsets and tare values from flash.

• S6_TARE: Collect accelerometer/gyro tare samples and save them.

• S7_READ_VALS: Perform a one-shot read of heading and heading-rate.

• S8_GET_CALIB_STATE: Pack calibration sub-system statuses into a single

  byte and publish it to a share.

class task_imu.task_imu(imuSensor, mode, calibration, heading, headingRate)

Bases: object

Scheduler task that initializes, calibrates, and reads the BNO055 IMU. Heading and heading-rate are published to shared variables for use by other tasks (e.g., closed-loop motor control).

clear_tare()

Reset the IMU tare offsets to zero and persist the cleared values to flash.

Returns

bool

True if the updated tare values were saved successfully, False otherwise.

run()

Cooperative task for scheduler

tare_accel_gyro(sample_count=100, sample_delay_ms=5)

Collect tare samples from the accelerometer and gyroscope, then save the resulting tare offsets to flash.

This is a generator method; use yield from tare_accel_gyro().

Parameters

sample_countint, optional

Number of samples to average for the tare (default 100).

sample_delay_msint, optional

Delay in milliseconds between samples (default 5).

Returns

bool

True if the tare values were saved successfully, False otherwise.