LPMS Sensor

Node ID: lpms · Role: Source · Realtime config: no

Description

Dedicated LP-Research LPMS/IG1 IMU sensor source with full sensor configuration, real-time data visualization, CAN/CANOpen/UART setup, filter tuning, and firmware updates via the Sensor Config UI. IG1P sensors additionally stream their built-in GPS as Gnss output. LPMS-B2 sensors are supported over Bluetooth (pair at OS level first).

Inputs / Outputs

Inputs: (none)
Outputs: Imu, Gnss

Config aliases

LpmsSensor, lpmsSource, lpms

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	Options	Description / Notes
`name`	Sensor	`select`	`""`	``, `lpmsca340061004f`, `lpmsb2-8627ad`	Selected LPMS/IG1 sensor. The dropdown is populated at runtime from the list of connected LP-Research sensors.
`id`	Sensor ID	`string`	`referenceImu`	—	Stream identifier used when publishing data from this sensor.
`enableGyroAutocalibration`	Enable Gyro Autocalibration	`boolean`	`false`	—	—
`disableMagFusion`	Disable magnetometer in sensor fusion	`boolean`	`false`	—	—
`gpsId`	GPS Sender ID	`string`	`gps`	—	—
`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`	—	—

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": {
    "lpms": {
      "outEndpoint": "inproc://lpms_data",
      "settings": {
        "disableMagFusion": false,
        "enableGyroAutocalibration": false,
        "gpsId": "gps",
        "id": "referenceImu",
        "nSamplesForAutocalibration": 500,
        "nSamplesForSteady": 256,
        "name": "",
        "noiseRmsLimit": 0.02,
        "steadyThresholdAverage": 1.5,
        "steadyThresholdRms": 1.0
      }
    }
  }
}

Field reference

Field	Purpose
`outEndpoint`	ZMQ / inproc endpoint this source binds to publish its output. The runtime auto-generates one if omitted.
`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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