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Tutorial T2 — IMU Bring-up + Orientation (Basic Fusion)

Purpose​

Bring up an IMU and produce a stable orientation estimate (roll/pitch/yaw) suitable for mapping.

Hardware (team standard)​

  • ESP32-S3
  • MPU6050 (I2C)

Deliverables​

  • Repo: tutorial-esp32-room-mapper-t2/
  • MPU6050 streaming accel/gyro at fixed rate
  • Basic fusion (complementary filter) gives stable roll/pitch; yaw can be gyro-integrated (drift expected)

Acceptance criteria​

  • Roll/pitch settle within ~2–3 seconds after motion.
  • Logs show timestamps and sample rates.

Evidence pack​

  • Serial log with roll/pitch values while rotating board by hand.