Szabolcs Gergely

@diablodale please check out this PR: https://github.com/luxonis/depthai-core/pull/399 IIRC you have a pre-production unit which probably didn't go through IMU FW update

> woman_juggling can I also use [#319 (comment)](https://github.com/luxonis/depthai-core/issues/319#issuecomment-1003446759) ? Would be somewhat easier for me. fyi, the test script you also provided in that issue outputs nothing from this poe...

@diablodale you can install the library from `imu_firmware_update` directly as: ``` python3 -m pip install -U --prefer-binary --user --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local "depthai==2.14.1.0.dev+682598dde411486e6fc7cb4f6222a1da2606fce0" ``` 0.4.0 didn't have POE support back then.

> No luck. :-/ > > 1. checked out the current `imu_firmware_update` branch. > 2. created a venv > 3. `python -m pip install -U --prefer-binary --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local "depthai==2.14.1.0.dev+682598dde411486e6fc7cb4f6222a1da2606fce0"` >...

@diablodale add `imu.doFirmwareUpdate()` to the script, it will do IMU firmware update. I will make this behavior automatic. Looks like we didn't test your beta board before shipping it out,...

Firmware update is performed during factory calibration/test, so for production units it's not needed. It handles interrupt in the middle of firmware update, so it won't get bricked, and it...

> I would expect the coordinate system for acceleration and gravity to be shared as documented in IMU datasheet section 2. Since gravity is derived from the raw accelerometer. Meaning...

@diablodale you have a device that was shipped before factory calibration, which has older IMU FW. We don't have access to the IMU FW, this issue looks like got fixed...

> Could depthai-core do the check itself on IMU startup Yes, will add it.

@diablodale check https://github.com/luxonis/depthai-core/pull/375 Calibration will be adressed later.