Inertial Questions (EXP)

Programming Support
1

I have a few technical questions about the inertial sensor, particularly the one built into the EXP-brain.

  1. There is a error in the API documentation for the orientation() member function. API says that the first argument is an axisType, but it’s actually an orientationType.
  2. What is the assumed rotation order when querying the orientation of the brain? Yaw, then Pitch, then Roll?
  3. Is there documentation available for the overloaded orientation() calls? VS-Code gives options for quaternion attitude as well as a generic inertial::attitude object. Are these recommended for ‘everyday use’?
  4. Are there any details available describing the algorithm for calculating orientation? Is the brain integrating the raw gyro measurements? Or is this derived from the IMU itself (many IMUs can do their own integration)
  5. Has anyone found the accelerometers sufficiently useful to provide coarse translational estimates (i.e., velocity and/or position). How frequently does the brain update acceleration? I would imagine that it might be difficult to integrate accelerometer readings at the user-level.

Thanks!