Adis16448 Gyro Bias calibration

[rikba]

The Adis16448 has very stable biases. Thus it makes sense to calibrate them before deployment and assume they are constant over the course. Especially the gyro biases are easy to calibrate. You can average a set of angular velocity measurements at still stand and offset your measurements by those.

The Adis16448 has a Single Command Bias Correction that can be activated through the registers (see datasheet, p. 21). We can do this calibration in the initialization. Maybe it is also possible to set an alarm to ensure that the IMU is not moved during calibration (see datasheet, p. 24). To indicate that the calibration is running, we can blink the LED (DIO2).

[rikba]

@clanegge created an initial calibration routine. #11