Lesson 4: IMU Sensor

Goal / 目標

Read IMU (gyroscope + accelerometer) data and visualize via telemetry.

API / 使用するAPI

Function	Description	Unit
ws::gyro_x/y/z()	Angular velocity	rad/s
ws::accel_x/y/z()	Linear acceleration	m/s^2
ws::telemetry_send(name, val)	Send via WiFi	-

Coordinate System / 座標系

   X (forward)
   ^
   |
   +---> Y (right)
   |
   v Z (down, NED)

Steps / 手順

1. sf lesson switch 4
2. Read and print gyro/accel values
3. Tilt the drone by hand and observe changes
4. Send values via telemetry: sf log wifi
5. Expected: accel_z ≈ 9.81 m/s^2 when flat

Key Concepts / キーコンセプト

• BMI270 6-axis IMU (400Hz)
• NED (North-East-Down) coordinate system
• WiFi telemetry for real-time visualization