ACwing FC firmware
STM32WB55: attitude IEKF, altitude Kalman filter, flight core, protocol v2
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imu_lsm6dsv16x Directory Reference
Directory dependency graph for imu_lsm6dsv16x:

Files

 imu_lsm6dsv16x.c
 The sensor-hub configuration sequence follows the official ST example lsm6dsv16x_sensor_hub.c (STMems_Standard_C_drivers), with explicit timeouts instead of infinite loops.
 
 imu_lsm6dsv16x.h
 IMU library: LSM6DSV16X (gyro + acc) with the LIS2MDL and the barometer (LPS22DF on the X-NUCLEO-IKS4A1 in Mode 3, LPS22HB on the ACwing FC rev A) read by the internal sensor hub and placed in the same FIFO.