# `imu` — imu sensor

The `imu` module is used for reading the 6-DOF LSM6DS3 IMU sensor under the camera sensor.

Note

The IMU sensor (and this module) is not present on all OpenMV Cam models.

## Functions

imu.acceleration_mg()

  Returns the acceleration for (x, y, z) in a float tuple in milli-g’s.

  For when the camera board is lying on a table face up:

  X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

imu.angular_rate_mdps()

  Returns the angular rate for (x, y, z) in a float tuple in milli-degrees-per-second.

  For when the camera board is lying on a table face up:

  X points to the right of the camera sensor Y points down below the camera sensor (towards the bottom on the board) Z points in the reverse direction of the camera sensor (into the table)

imu.temperature_c()

  Returns the temperature in celsius (float).

imu.roll()

  Returns the rotation angle in degrees (float) of the camera module.

  > - 0 -> Camera is standing up.

  > - 90 -> Camera is roated left.

  > - 180 -> Camera is upside down.

  > - 270 -> Camera is rotated right.

imu.pitch()

  Returns the rotation angle in degrees (float) of the camera module.

  > - 0 -> Camera is standing up.

  > - 90 -> Camera is pointing down.

  > - 180 -> Camera is upside down.

  > - 270 -> Camera is pointing up.

imu.sleep(enable)

  Pass `True` to put the IMU sensor to sleep. `False` to wake it back up (the default).

imu.__write_reg(addr, val)

  Set 8-bit LSM6DS3 register `addr` to 8-bit `val`.

imu.__read_reg(addr)

  Get 8-bit LSM6DS3 register `addr`.

Language and External Links

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External links
  openmv.io
  forums.openmv.io
  github.com/openmv/openmv
  micropython.org
  forum.micropython.org
  github.com/micropython/micropython