I'm currently working on a project that involves obtaining pitch, roll, and yaw angles using the accelerometer, gyroscope, and magnetometer data from the ICM-20948 sensor. After some research, I came across references to the built-in Digital Motion Processor (DMP) in the ICM-20948 that can handle sensor fusion internally.
I'm seeking guidance and more information from experienced individuals who have worked with the ICM-20948's sensor fusion and DMP capabilities. Specifically, I would like to know how to utilize the DMP to obtain the fused pitch, roll, and yaw angles without having to implement the sensor fusion algorithm myself.
Here are some specific questions I have:
How can I configure the ICM-20948 to enable the sensor fusion mode and activate the DMP?
Which registers should be set to enable the fusion mode and select the fusion algorithm parameters? What are the necessary steps to retrieve the fused pitch, roll, and yaw angles from the ICM-20948 once the DMP is activated?
Are there any calibration procedures or additional settings that need to be considered for optimal sensor fusion performance? I have struggled to find detailed documentation specifically focused on utilizing the sensor fusion and DMP capabilities of the ICM-20948. Any guidance, reference materials, or code examples would be greatly appreciated.