A demo showing the pose of the lsm6ds3 6DoF IMU sensor in 3D using esp-idf.
You can use the Kalman filter or the Madgwick filter to estimate the Euler angle.
Euler angles are roll, pitch and yaw.
It's very intuitive and easy to understand.
However, since LSM6DS3 is a 6DoF IMU, YAW estimation is not possible.
You can view like this.
ESP-IDF V5.0 or later.
ESP-IDF V4.4 release branch reached EOL in July 2024.
ESP-IDF V5.1 is required when using ESP32-C6.
LSM6DS3 Accelerometer Gyroscope module 6 Dof inertial Measurement Sensors.
| LSM6DS3 | ESP32 | ESP32-S2/S3 | ESP32-C2/C3/C6 | ||
|---|---|---|---|---|---|
| VIN | -- | N/C | N/C | N/C | |
| 3V3 | -- | 3.3V | 3.3V | 3.3V | |
| GND | -- | GND | GND | GND | |
| SCL | -- | GPIO22 | GPIO12 | GPIO5 | (*1) |
| SDA | -- | GPIO21 | GPIO11 | GPIO4 | (*1) |
| CS | -- | 3.3V | 3.3V | 3.3V | Use i2c |
| SAO | -- | GND/3.3V | GND/3.3V | GND/3.3V | (*2) |
(*1)You can change it to any pin using menuconfig.
(*2)Choosing an i2c address.
GND:i2c address is 0x6A.
3.3V:i2c address is 0x6B.
git clone https://github.com/nopnop2002/esp-idf-lsm6ds3
cd esp-idf-lsm6ds3/Kalman
idf.py set-target {esp32/esp32s2/esp32s3/esp32c2/esp32c3/esp32c6}
idf.py menuconfig
idf.py flash
git clone https://github.com/nopnop2002/esp-idf-lsm6ds3
cd esp-idf-lsm6ds3/Madgwick
idf.py set-target {esp32/esp32s2/esp32s3/esp32c2/esp32c3/esp32c6}
idf.py menuconfig
idf.py flash
ESP32 acts as a web server.
I used this component.
This component can communicate directly with the browser.
Enter the following in the address bar of your web browser.
http:://{IP of ESP32}/
or
http://esp32.local/
WEB pages are stored in the html folder.
I used this for gauge display.
I used this for 3D display.
You can change the design and color according to your preference.
You can view Euler angles using this tool.
It works as a UDP display server.
This is a great application.
+-------------+ +-------------+ +-------------+
| | | | | |
| IMU |--(i2c)-->| ESP32 |--(UDP)-->| pyteapot.py |
| | | | | |
+-------------+ +-------------+ +-------------+
$ python3 --version
Python 3.11.2
$ sudo apt install python3-pip python3-setuptools
$ python3 -m pip install -U pip
$ python3 -m pip install pygame
$ python3 -m pip install PyOpenGL PyOpenGL_accelerate
$ git clone https://github.com/thecountoftuscany/PyTeapot-Quaternion-Euler-cube-rotation
$ cd PyTeapot-Quaternion-Euler-cube-rotation
$ python3 pyteapot.py
The posture of your sensor is displayed.
Install Git for Windows from here.
Install Python Releases for Windows from here.
Open Git Bash and run:
$ python --version
Python 3.11.9
$ python -m pip install -U pip
$ python -m pip install pygame
$ python -m pip install PyOpenGL PyOpenGL_accelerate
$ git clone https://github.com/thecountoftuscany/PyTeapot-Quaternion-Euler-cube-rotation
$ cd PyTeapot-Quaternion-Euler-cube-rotation
$ python pyteapot.py
You can view Euler angles using this library.
It works as a UDP display server.
+-------------+ +-------------+ +-------------+
| | | | | |
| IMU |--(ic2)-->| ESP32 |--(UDP)-->| panda.py |
| | | | | |
+-------------+ +-------------+ +-------------+
$ python3 --version
Python 3.11.2
$ sudo apt install python3-pip python3-setuptools
$ python3 -m pip install -U pip
$ python3 -m pip install panda3d
$ git clone https://github.com/nopnop2002/esp-idf-mpu6050-dmp
$ cd esp-idf-mpu6050-dmp/panda3d
$ python3 panda.py --help
usage: panda.py [-h] [--model {jet,biplain,707,fa18}]
options:
-h, --help show this help message and exit
--model {jet,biplain,707,fa18}
Install Git for Windows from here.
Install Python Releases for Windows from here.
Open Git Bash and run:
$ python --version
Python 3.11.9
$ python -m pip install -U pip
$ python -m pip install panda3d
$ git clone https://github.com/nopnop2002/esp-idf-mpu6050-dmp
$ cd esp-idf-mpu6050-dmp/panda3d
$ python panda.py --help
usage: panda.py [-h] [--model {jet,biplain,707,fa18}]
options:
-h, --help show this help message and exit
--model {jet,biplain,707,fa18}
See here