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SlimeVR Tracker firmware for ESPFirmware for ESP8266 / ESP32 microcontrollers and different IMU sensors to use them as a vive-like trackers in VR.Requires SlimeVR Server to work with SteamVR and resolve pose. Should be compatible with owoTrack, but is not guaranteed.ConfigurationFirmware configuration is located in the defines.h file. For more information on how to configure your firmware, refer to the Configuring the firmware project section of SlimeVR documentation.CompatibilityThe following IMUs and their corresponding IMU values are supported by the firmware:BNO085 & BNO086 (IMU_BNO085)Using any fusion in internal DMP. Best results with ARVR Stabilized Game Rotation Vector or ARVR Stabilized Rotation Vector if in good magnetic environment.BNO080 (IMU_BNO080)Using any fusion in internal DMP. Doesn't have BNO085's ARVR stabilization, but still gives good results.MPU-6500 (IMU_MPU6500) & MPU-6050 (IMU_MPU6050)Using internal DMP to fuse Gyroscope and Accelerometer. Can drift substantially.NOTE: Currently the MPU will auto calibrate when powered on. You must place it on the ground and DO NOT move it until calibration is complete (for a few seconds). LED on the ESP will blink 5 times after calibration is over.BNO055 (IMU_BNO055)Performs much worse than BNO080, despite having the same hardware. Not recommended for use.MPU-9250 (IMU_MPU9250)Using Mahony sensor fusion of Gyroscope, Magnetometer and Accelerometer, requires good magnetic environment.See Sensor calibration below for info on calibrating this sensor.Specify IMU_MPU6500 in your defines.h to use without magnetometer in 6DoF mode.Experimental support!BMI160 (IMU_BMI160)Using sensor fusion of Gyroscope and Accelerometer.See Sensor calibration below for info on calibrating this sensor.Calibration file format is unstable and may not be able to load using newer firmware versions.Experimental support!Support for the following magnetometers is implemented (even more experimental): HMC5883L, QMC5883L.BMI270 (IMU_BMI270)Based on BMI160 code.Using sensor fusion of Gyroscope and Accelerometer.By default motionless gyroscope sensitivity error compensation is performed during first calibration.In-use Offset Compensation is supported, but turned off by default (initial testing show worse performance than manual calibration).Experimental support!Support for magnetometers is currently not implemented.ICM-20948 (IMU_ICM20948)Using fusion in internal DMP for 6Dof or 9DoF, 9DoF mode requires good magnetic environment.Comment out USE_6DOF in debug.h for 9DoF mode.Experimental support!Firmware can work with both ESP8266 and ESP32. Please edit defines.h and set your pinout properly according to how you connected the IMU.Sensor calibrationIt is generally recommended to turn trackers on and let them lay down on a flat surface for a few seconds.* This will calibrate them better.Some trackers require special calibration steps on startup:MPU-9250Turn them on with chip facing down. Flip up and put on a surface for a couple of seconds, the LED will light up.After a few blinks, the LED will light up againSlowly rotate the tracker in an 8-motion facing different directions for about 30 seconds, while LED is blinkingLED will turn off when calibration is completeYou don't have to calibrate next time you power it on, calibration values will be saved for the next useBMI160If you have any problems with this procedure, connect the device via USB and open the serial console to check for any warnings or errors that may indicate hardware problems.Step 0: Power up with the

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