Original post by: OpenROV (Sofar) ,
Hello, The main code that interfaces with the IMU is found in the Arduino section of the code. https://github.com/OpenROV/openrov-software-arduino/tree/master/OpenROV The BNO055 is the IMU part of the sensor board so you will want to check out those files. The MS5837 is the pressure sensor for the depth. You will also want to check out the AConfig.h file which has some of the initialization and addressing. -Brian G.