Aceinna / python-openimu

using: OpenIMU300ZI, VG_AHRS app, 200Hz, a2 packet type, python driver (and ROS).

Looking at the OpenIMU driver settings for the VG_AHRS app, it strictly uses the +X+Y+Z axis orientation as indicated here:

python-openimu/src/aceinna/setting/OpenIMU300ZI/VG_AHRS/openimu.json

Line 13 in 9aa2aab

    
           { "paramId": 7, "category": "General","paramType": "select", "type": "char8", "name": "Orientation", "argument": "orien", "value_range":[-1,1],"value_accuracy":6,"options": ["+X+Y+Z"] },

However for my application I need to rotate the IMU 90 degrees around the +Y axis. Therefore the desired orientation im testing with is -Z+Y+X. I updated the firmware to the -Z+Y+X orientation.

Since the orientation changes, wouldnt the order of the reading of the packets change as well? Where can I edit that?
(This can be potentiolly related to this: https://github.com/ROS-Aceinna/ros_openimu/blob/f0db402401c28102bb7ffda23b6f8a577d44471f/scripts/openimu_driver.py#L128 )

No need change.

Hi @Ahmad-Drak ,
As you have updated desired orientation [-Z+Y+X], the order of the reading of the packets change as well. All accel and rate reading are in [-Z+Y+X]. So no need to change orientation in openimu.json.

Change orientation of the OpenIMU axis