Here's a picture of me holding it so you can get some idea of its size:
It is the same orientation module that I have been using inside of AMOS this year, and it has worked quite well. It includes three-axis accelerometers, magnetometers, gyro sensors, and two temperature sensors, all of which combined with some simple calibrations make for a very nice, compact orientation sensor, with good dynamic response and resolution of around 0.1°. It even has a barometric pressure sensor, but I haven't tried that out yet. Documentation for the module, source and library files for Arduino and Raspberry Pi are now added on the website here: https://www.innaturerobotics.com/support.
I also took some time this week to come up with a simple means for achieving a basic temperature calibration for the ACS712 current sensor and the AMOS-IMU. I was hoping to use a simple apparatus powered by AMOS's 12V battery, and using an Arduino Uno board for collecting and storing the data in SRAM:
The only drawback of this approach was that whenever I plugged in the USB cable into a PC to download the data, the Arduino would reboot itself and lose whatever data happened to be stored in the SRAM. So I just got rid of the battery and ran a USB cable through a small opening in the box into the PC, to log the data in some terminal software (Tera Term). This actually worked pretty well. The interior of the box started off at around 20 °C and after the box was placed just outside our doggy door, the temperature dropped down to about 0 °C after an hour. I found that the change in output of the ACS712 was pretty much exactly what was specified in their datasheet, and probably not worth bothering to correct in software. I haven't checked the data for all of the orientation sensors yet; they might require some slight temperature compensation in software.
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