raspberry-imu-viewer

This tool allows to view in 3D the output of various orientation estimation algorithms, fed by a IMU sensor, connected to a Raspberry Pi. Supported sensors are:

• MPU6000 (I2C mode)
• MPU6050 (I2C mode)
• MPU6500 (I2C mode)
• ICM20600 (I2C mode)
• ICM20601 (I2C mode)
• ICM20602 (I2C mode)

This tool is intended to:

• provide a zero-dependencies, ready-to-use tool to test IMUs
• provide a starting point to anyone wishing to explore the field of orientation estimation

Build & launch

1. On the Raspberry Pi, enable I2C in fast-speed mode: edit /boot/config.txt and add:

   dtparam=i2c_arm=on
   dtparam=i2c_arm_baudrate=400000
   

   then edit /etc/modules and add

   i2c-dev
   

   then reboot the system.

2. Install the dependencies:

   sudo apt install -y git make gcc libc6-dev libi2c-dev libraspberrypi-dev
   

3. Clone this repository:

   git clone https://github.com/aler9/raspberry-imu-viewer
   cd raspberry-imu-viewer
   

4. Build:

   make
   

5. Launch:

   ./raspberry-imu-viewer
   

Links

• https://github.com/aler9/sensor-imu (IMU library used by this project)