Set the range of accelerometer & gyroscope

Using the SetOptionValue() function in the API, you can set various control values ​​for the current device.

To set the range of accelerometer and gyroscope, set Option::ACCELEROMETER_RANGE and Option::GYROSCOPE_RANGE.

Attention

For mynteye s1030, the available settings are:

  • The effective range of accelerometer(unit:g): 4, 8, 16, 32.
  • Gyroscope Range Valid value (unit: DEG/S): 500, 1000, 2000, 4000.

For mynteye s2100/s210a, the available settings are:

  • The effective range of accelerometer(unit:g): 6, 12, 24, 32.
  • The effective range of gyroscope(unit:deg/s): 250, 500, 1000, 2000, 4000.

Reference Code:

s1030:

auto &&api = API::Create(argc, argv);
if (!api)
  return 1;

// ACCELEROMETER_RANGE values: 4, 8, 16, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 8);
// GYROSCOPE_RANGE values: 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);

LOG(INFO) << "Set ACCELEROMETER_RANGE to "
          << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
LOG(INFO) << "Set GYROSCOPE_RANGE to "
          << api->GetOptionValue(Option::GYROSCOPE_RANGE);

s2100/s210a:

auto &&api = API::Create(argc, argv);
if (!api) return 1;

bool ok;
auto &&request = api->SelectStreamRequest(&ok);
if (!ok) return 1;
api->ConfigStreamRequest(request);

// ACCELEROMETER_RANGE values: 6, 12, 24, 32
api->SetOptionValue(Option::ACCELEROMETER_RANGE, 6);
// GYROSCOPE_RANGE values: 250, 500, 1000, 2000, 4000
api->SetOptionValue(Option::GYROSCOPE_RANGE, 1000);

LOG(INFO) << "Set ACCELEROMETER_RANGE to "
          << api->GetOptionValue(Option::ACCELEROMETER_RANGE);
LOG(INFO) << "Set GYROSCOPE_RANGE to "
          << api->GetOptionValue(Option::GYROSCOPE_RANGE);

Reference running results on Linux:

s1030:

$ ./samples/_output/bin/tutorials/ctrl_imu_range
I/utils.cc:28 Detecting MYNT EYE devices
I/utils.cc:38 MYNT EYE devices:
I/utils.cc:41   index: 0, name: MYNT-EYE-S1030, sn: 4B4C1F1100090712
I/utils.cc:49 Only one MYNT EYE device, select index: 0
I/imu_range.cc:34 Set ACCELEROMETER_RANGE to 8
I/imu_range.cc:36 Set GYROSCOPE_RANGE to 1000
I/imu_range.cc:81 Time beg: 2018-11-21 15:34:57.726428, end: 2018-11-21 15:35:12.190478, cost: 14464ms
I/imu_range.cc:84 Img count: 363, fps: 25.0967
I/imu_range.cc:86 Imu count: 2825, hz: 195.312

s2100/s210a:

$ ./samples/_output/bin/tutorials/ctrl_imu_range
I/utils.cc:30 Detecting MYNT EYE devices
I/utils.cc:40 MYNT EYE devices:
I/utils.cc:43   index: 0, name: MYNT-EYE-S210A, sn: 07C41A190009071F
I/utils.cc:51 Only one MYNT EYE device, select index: 0
I/utils.cc:79 MYNT EYE devices:
I/utils.cc:82   index: 0, request: width: 1280, height: 400, format: Format::BGR888, fps: 10
I/utils.cc:82   index: 1, request: width: 1280, height: 400, format: Format::BGR888, fps: 20
I/utils.cc:82   index: 2, request: width: 1280, height: 400, format: Format::BGR888, fps: 30
I/utils.cc:82   index: 3, request: width: 1280, height: 400, format: Format::BGR888, fps: 60
I/utils.cc:82   index: 4, request: width: 2560, height: 800, format: Format::BGR888, fps: 10
I/utils.cc:82   index: 5, request: width: 2560, height: 800, format: Format::BGR888, fps: 20
I/utils.cc:82   index: 6, request: width: 2560, height: 800, format: Format::BGR888, fps: 30
I/utils.cc:93 There are 7 stream requests, select index:
3
I/imu_range.cc:51 Set ACCELEROMETER_RANGE to 6
I/imu_range.cc:53 Set GYROSCOPE_RANGE to 1000
I/imu_range.cc:98 Time beg: 2018-12-29 10:03:10.706211, end: 2018-12-29 10:04:12.497427, cost: 61791.2ms
I/imu_range.cc:101 Img count: 3706, fps: 59.9762
I/imu_range.cc:103 Imu count: 24873, hz: 402.533

After the sample program finishes running with ESC/Q, the ranges of imu setting is complete. The ranges will be kept inside the hardware and not affected by power off.

Complete code samples,please see imu_range.cc.