pybricks.common.IMU: Relax default stationary thresholds.

This makes sure that the defaults work better in noisier conditions.

Fixes pybricks/support#1105

Author: laurensvalk

CHANGELOG.md

@@ -10,13 +10,18 @@
   is a tuple of `(name, num_values, data_type)` tuples for each available mode.
 - Added `pybricks.tools.read_input_byte()` function ([support#1102]).
 
+### Changed
+- Relaxed thesholds that define when the IMU is stationary, to make the
+  defaults work better in noisier conditions ([support#1105]).
+
 ### Fixed
 - Fixed Technic (Extra) Large motors not working ([support#1131]) on all hubs.
 - Fixed Powered Up Light not working ([support#1131]) on all hubs.
 - Fixed UART sensors not working on Technic Hub ([support#1137]).
 - Fixed incorrect number of ports on City Hub ([support#1131]).
 
 [support#1054]: https://github.com/pybricks/support/issues/1054
+[support#1105]: https://github.com/pybricks/support/issues/1105
 [support#1131]: https://github.com/pybricks/support/issues/1131
 [support#1137]: https://github.com/pybricks/support/issues/1137
 

lib/pbio/drv/imu/imu_lsm6ds3tr_c_stm32.c

@@ -228,8 +228,8 @@ static PT_THREAD(pbdrv_imu_lsm6ds3tr_c_stm32_init(struct pt *pt)) {
     imu_dev->config.gyro_scale = lsm6ds3tr_c_from_fs2000dps_to_mdps(1) / 1000.0f;
 
     // default noise thresholds, can be changed during runtime
-    imu_dev->config.gyro_stationary_threshold = 20; // 1.4 deg/s
-    imu_dev->config.accel_stationary_threshold = 100; // 240 mm/s^2, or approx 2.5^ of gravity
+    imu_dev->config.gyro_stationary_threshold = 71; // 5 deg/s
+    imu_dev->config.accel_stationary_threshold = 1044; // 2500 mm/s^2, or approx 25% of gravity
 
     // Configure INT1 to trigger when new gyro data is ready.
     PT_SPAWN(pt, &child, lsm6ds3tr_c_pin_int1_route_set(&child, ctx, (lsm6ds3tr_c_int1_route_t) {

pybricks/common/pb_type_imu.c

@@ -249,7 +249,7 @@ mp_obj_t pb_type_IMU_obj_new(mp_obj_t top_side_axis_in, mp_obj_t front_side_axis
     pbio_imu_set_base_orientation(&front_side_axis, &top_side_axis);
 
     // Default noise thresholds.
-    pbio_imu_set_stationary_thresholds(1.5f, 250.0f);
+    pbio_imu_set_stationary_thresholds(5.0f, 2500.0f);
 
     // Return singleton instance.
     return MP_OBJ_FROM_PTR(&singleton_imu_obj);