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

Each row shows the setting’s label in the node’s Properties panel and, in code, its key in the node’s settings object in the config file. A setting omitted from the config file uses the default shown here.

Property	Type	Default	Description
Sensor `name`	select	`""`	Selected LPMS/IG1 sensor. The dropdown is populated at runtime from the list of connected LP-Research sensors. Options: ``, `ig1pcan100460020`, `lpmsb2-8627ad`.
Sensor ID `id`	string	`referenceImu`	Stream identifier used when publishing data from this sensor.
Enable Gyro Autocalibration `enableGyroAutocalibration`	boolean	`false`
Disable magnetometer in sensor fusion `disableMagFusion`	boolean	`false`
GPS Sender ID `gpsId`	string	`gps`

Gyro Autocalibration

Property	Type	Default
Steady motion threshold (deg/s) `steadyThresholdAverage`	number	`1.5`
Steady RMS gate `steadyThresholdRms`	number	`1.0`
Noise RMS limit `noiseRmsLimit`	number	`0.02`
Steady-detection samples `nSamplesForSteady`	number	`256`
Calibration samples `nSamplesForAutocalibration`	number	`500`

Example node definition

A minimal entry in config.json looks like the block below. Paste it under the sources key, keyed by an instance name of your choice. All settings are optional: anything not listed under settings uses the default from the Properties table above. See The configuration file for how the sections and endpoint wiring work.

{
  "sources": {
    "lpms": {
      "outEndpoint": "inproc://lpms_data",
      "settings": {}
    }
  }
}

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