RTIMULibCal(1)

NAME
RTIMULibCal - Calibration tool for the Sense HAT IMU

SYNOPSIS
RTIMULibCal [filename]

DESCRIPTION
RTIMULibCal is a command line calibration tool for the Raspberry Pi Sense HAT IMU. It has no command line options, but does provide an interactive interface through which the IMU can be calibrated. It is essential to calibrate the IMU's magnetometer (at the very least) or else poor results will be obtained when querying the device's orientation (or “pose”).

The calibration data obtained from this tool will be output to filename which defaults to “RTIMULib.ini” if omitted.

When started, a menu will be presented providing options to calibrate the magnetometer or the accelerometer within the IMU (or select “x” to exit):

        Options are:
          m - calibrate magnetometer with min/max
          e - calibrate magnetometer with ellipsoid (do min/max first)
          a - calibrate accelerometers
          x - exit

Given that calibration typically requires that the HAT is rotated through numerous orientations, it is recommended to perform this on a Raspberry Pi with a minimum number of cables attached to it. For instance, you may wish to set up WiFi connectivity, and operate the calibration application over an SSH connection so that you can remove keyboard and monitor cables from the Pi, leaving just the power cable necessary.

Please note that the magnetometer ellipsoid calibration option (“e”) requires GNU Octave to be installed.

SEE ALSO
RTIMULibDrive11(1)