feat: Normalize IMU data and use buffers for IMU's - #612
Draft
pastaq wants to merge 1 commit into
Draft
Conversation
pastaq
force-pushed
the
pastaq/imu_refactor
branch
2 times, most recently
from
June 21, 2026 05:37
02b9181 to
208de6a
Compare
pastaq
force-pushed
the
pastaq/imu_refactor
branch
from
August 21, 2026 18:51
208de6a to
5708e71
Compare
This PR does a major overhaul of how IMU data is managed across every aspect of InputPlumber. - All source device drivers now normalize IMU data into radians per second for gyroscope data and meters per second squared for accelerometer data. - All target devices now denormalize Accelerometer and Gyroscope events into their native format (typically LSB). - Split BMI and AccelGyro3D Drivers. The AccelGyro3D source device driver now configures a buffer and follows an asynchronous drain/refill pattern to create events. This reduces CPU and RAM overhead by reducing the number of reads per event from 3-6 to 1. This also has the benefit of reducing jitter when using AccelGyro3D based devices as the entire event is now based on a single timestamp, when the old method had significant drift during each poll. - Removes deprecated Gamepad::Accelerometer and Gamepad:Gyro events.
pastaq
force-pushed
the
pastaq/imu_refactor
branch
from
August 21, 2026 18:57
5708e71 to
041db89
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR does a major overhaul of how IMU data is managed across every aspect of InputPlumber.