Thinking about 9-axis sensor fusion: can ISPU core take in sensor raw data in periphery and real-time fusing more accurate orientation information?

[Luca SEGHIZZI · Accepted solution]

Yes, with the ISPU we can use the sensor hub configuration using up to 4 sensors, hence yes, we can take the magnetometer and compute the 9-axis sensor fusion with a total power consumption of 370uA.

[LittleBigQi]

Hi, I would like to use LSM6DSO16IS+LIS2MDL，LIS2MDL is mounted via the sensor hub on the LSM6DSO16IS，The ISPU function outputs quaternion data. I went through the relevant package(en.x-cube-ispu),But I still don't understand how the 9 axis sensor fusion application should be configured.

Is there a simple ISPU code related to acc + gro + mag?