IMU Source

Node ID: imu · Role: Source · Realtime config: yes

Description

Inertial measurement unit source supporting HID, XREAL Air 2 Ultra, XREAL One Pro, and Stereolabs ZED (ZED-M/ZED2/ZED2i) devices. Outputs ImuData (accelerometer, gyroscope, quaternion orientation).

Inputs / Outputs

Inputs: (none)
Outputs: Imu

Config aliases

ImuSource, imuSource, imu

Properties

The following fields are exposed in the node’s Properties panel in the UI. Types map to UI widgets (e.g. string → text input, number → numeric, boolean → toggle, select → dropdown, json → JSON editor).

Key	Label	Type	Default	Description / Notes
`id`	Sender ID	`string`	`imu`	Stream identifier that downstream nodes use to subscribe to this source’s IMU data.

Subtypes

Value	Display name	Extra properties
`hid`	HID IMU	9 field(s)
`xreal_air2_ultra`	XREAL Air 2 Ultra	8 field(s)
`xreal_one_pro`	XREAL One Pro	13 field(s)
`zed`	ZED IMU	5 field(s)

Subtype: `hid` — HID IMU

Key	Label	Type	Default	Description / Notes
`axisConfigAcc`	Accelerometer Axis Config	`string`	`+X+Y+Z`	Per-axis sign/swizzle for the accelerometer, e.g. ‘+X+Y+Z’ or ‘-Y+X+Z’. Used to rotate raw sensor axes into the expected body frame.
`axisConfigGyro`	Gyroscope Axis Config	`string`	`+X+Y+Z`	Per-axis sign/swizzle for the gyroscope, same format as the accelerometer axis config.
`enableGyroAutocalibration`	Enable Gyro Autocalibration	`boolean`	`true`	—
`gyroAutocalHeading`	Gyro Autocalibration	`heading`	—	—
`steadyThresholdAverage`	Steady motion threshold (deg/s)	`number`	`1.5`	—
`steadyThresholdRms`	Steady RMS gate	`number`	`1.0`	—
`noiseRmsLimit`	Noise RMS limit	`number`	`0.02`	—
`nSamplesForSteady`	Steady-detection samples	`number`	`256`	—
`nSamplesForAutocalibration`	Calibration samples	`number`	`500`	—

Subtype: `xreal_air2_ultra` — XREAL Air 2 Ultra

Key	Label	Type	Default	Description / Notes
`id`	Sender ID	`string`	`headsetImu`	Stream identifier for the Xreal Air 2 Ultra IMU output.
`enableGyroAutocalibration`	Enable Gyro Autocalibration	`boolean`	`true`	—
`gyroAutocalHeading`	Gyro Autocalibration	`heading`	—	—
`steadyThresholdAverage`	Steady motion threshold (deg/s)	`number`	`2.0`	—
`steadyThresholdRms`	Steady RMS gate	`number`	`1.0`	—
`noiseRmsLimit`	Noise RMS limit	`number`	`0.02`	—
`nSamplesForSteady`	Steady-detection samples	`number`	`256`	—
`nSamplesForAutocalibration`	Calibration samples	`number`	`500`	—

Subtype: `xreal_one_pro` — XREAL One Pro

Key	Label	Type	Default	Description / Notes
`id`	Sender ID	`string`	`headsetImu`	Stream identifier for the Xreal One Pro IMU output.
`ip`	Device IP	`string`	`169.254.2.1`	IPv4 address of the Xreal One Pro device.
`port`	Device Port	`number`	`52998`	UDP port on the Xreal One Pro device for the IMU stream.
`connectTimeoutMs`	Connect timeout (ms)	`number`	`1000`	Timeout when opening the connection to the device, in milliseconds.
`recvTimeoutMs`	Receive timeout (ms)	`number`	`1000`	Timeout on each receive call, in milliseconds.
`imuTiltDeg`	IMU Tilt (deg)	`number`	`30.0`	Mechanical tilt of the IMU inside the headset, in degrees; applied to the raw samples.
`enableGyroAutocalibration`	Enable Gyro Autocalibration	`boolean`	`true`	—
`gyroAutocalHeading`	Gyro Autocalibration	`heading`	—	—
`steadyThresholdAverage`	Steady motion threshold (deg/s)	`number`	`2.0`	—
`steadyThresholdRms`	Steady RMS gate	`number`	`1.0`	—
`noiseRmsLimit`	Noise RMS limit	`number`	`0.02`	—
`nSamplesForSteady`	Steady-detection samples	`number`	`256`	—
`nSamplesForAutocalibration`	Calibration samples	`number`	`500`	—

Subtype: `zed` — ZED IMU

Key	Label	Type	Default	Description / Notes
`id`	Sender ID	`string`	`zedImu`	Stream identifier that downstream nodes use to subscribe to this source’s IMU data.
`cameraSerial`	Camera Serial	`string`	`""`	Optional ZED serial number. Empty = first ZED MCU found.
`axisConfigAcc`	Accelerometer Axis Config	`string`	`+Z+Y-X`	—
`axisConfigGyro`	Gyroscope Axis Config	`string`	`+Z+Y-X`	—
`enableGyroAutocalibration`	Enable Gyro Autocalibration	`boolean`	`true`	—

Example node definition

A full node definition in config.json looks like the block below. Paste it under the sources key of your config, keyed by the node’s instance name (any identifier; it doesn’t have to match the node ID).

{
  "sources": {
    "imu": {
      "outEndpoint": "inproc://imu_data",
      "type": "hid",
      "settings": {
        "id": "imu",
        "axisConfigAcc": "+X+Y+Z",
        "axisConfigGyro": "+X+Y+Z",
        "enableGyroAutocalibration": true,
        "gyroAutocalHeading": null,
        "steadyThresholdAverage": 1.5,
        "steadyThresholdRms": 1.0,
        "noiseRmsLimit": 0.02,
        "nSamplesForSteady": 256,
        "nSamplesForAutocalibration": 500
      }
    }
  }
}

Field reference

Field	Purpose
`outEndpoint`	ZMQ / inproc endpoint this source binds to publish its output. The runtime auto-generates one if omitted.
`type`	Subtype / backend selector. See the Subtypes section above for valid values.
`settings`	All user-configurable fields — see the Properties table above.

Connections can also be declared at the top-level connections array when settings.explicitConnections is true, as an alternative to filling inputEndpoints on each node.

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