An embedded IMU sensing pipeline for FRC robotics integrating ESP32-based sensor fusion with RoboRIO via SPI, employing Kalman filtering, OLS drift estimation, ZUPT stabilization, and adaptive temperature compensation to achieve robust, low-drift orientation tracking in high-noise environments.
esp32 gyroscope frc imu gyro kalman-filtering kalman-filter gyrosensor frc-java imu-sensor low-drift zupt imu-sensors
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Updated
Sep 8, 2026 - Assembly