Feature: Implement mainboard sensors
Because we did find enough pins in the end, we can also directly connect two BNO-055 and two BMP-388 to the mainboard microcontroller, allowing for more reliable sensor sampling.
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Add BNO-055 and BMP-388 drivers to repository -
(Re-)Implement sensor task setup -
Implement correct calibration of the BNO-055 -
Rewrite the BNO-055 vendor library to allow for multi-device support -
Make sensor sampling support rates up to 100Hz -
Implement sensor redundancy and mean calculation -
Connect sampled sensor data to the state estimation input -
Sync sensor sampling with the state estimation so that the data should always arrive before the deadline.
Edited by Lukas Vogel