This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 1234]

▼Cm5::imu::AhrsController	Merges up to 4 IMUDataSource instances by capability and fuses their samples into an attitude estimate via a pluggable AhrsFilterBase
Cm5::imu::AhrsImu	AhrsController plus an M5Unified IMU_Class-compatible API
▼Cm5::imu::AhrsFilterBase	Framework-independent contract shared by every AHRS attitude filter
Cm5::imu::ComplementaryFilter	Angle-based first-order complementary filter
Cm5::imu::EKFFilter	Quaternion extended Kalman filter (EKF) with gyro bias estimation
Cm5::imu::FusionFilter	Adapter around the vendored x-io Fusion AHRS algorithm (x-io Technologies, MIT license; see src/imu/filter/third_party/fusion)
Cm5::imu::MadgwickFilter	Gradient-descent orientation filter (Madgwick 2010)
Cm5::imu::MahonyFilter	Explicit complementary filter with proportional-integral feedback (Mahony et al. 2008)
Cm5::imu::VQFFilter	Adapter around the vendored VQF algorithm (Daniel Laidig, MIT license; see src/imu/filter/third_party/vqf)
Cm5::imu::AxisOrder	Chip-frame-to-body-frame axis remap: a permutation plus a per-output-axis sign flip
Cm5::imu::AhrsController::calibration_data_t	Exportable/importable snapshot of every capability's auto-calibration offset
▼CComponent
Cm5::unit::UnitAK8963	3-axis magnetometer unit. No standalone GROVE unit exists; it is the magnetometer embedded in the MPU9250 found on early classic M5Stack Core/Fire boards, reachable at 0x0C once the MPU9250's I2C bypass is enabled (see m5::unit::imu::enableAuxBypass)
▼Cm5::unit::UnitBMI270	6-axis (accel + gyro) IMU unit. CoreS3/AtomS3R built-in
Cm5::unit::UnitBMI270AuxBMM150	BMI270 that switches on its auxiliary (AUX) interface and drives a BMM150 through it
Cm5::unit::UnitBMM150	3-axis magnetometer unit. No standalone GROVE unit exists for this chip; it is found built into some boards (e.g. classic M5Stack Core/Fire, paired with MPU6886) and as the auxiliary sensor of UnitBMI270
Cm5::unit::UnitBMM350	3-axis magnetometer unit (U231, GROVE)
Cm5::unit::UnitDoF10	Unit DoF10: BMI270 + BMM350 + SPA06, all directly on the GROVE main bus (no AUX bypass). The BMI270 address is SW1-selectable (0x68 default / 0x69); pass it to the constructor (e.g. from bmi270::detectAddress). BMM350 is fixed at 0x14, SPA06 is fixed at 0x76. Add imu() and mag() to an AhrsController; read baro() directly (not AHRS-fused)
Cm5::unit::UnitDoF9	Unit DoF9: BMI270 + BMM350, both directly on the GROVE main bus (no AUX bypass). The BMI270 address is SW1-selectable (0x68 default / 0x69); pass it to the constructor (e.g. from bmi270::detectAddress). BMM350 is fixed at 0x14. Add imu() and mag() to an AhrsController
Cm5::unit::UnitMAG3110	NXP/Freescale MAG3110 3-axis magnetometer. No standalone GROVE unit exists; it is the magnetometer on the original (2017) classic M5Stack Gray (paired with an MPU6050). It sits directly on the host I2C bus at 0x0E (no aux bypass needed, unlike the MPU9250's AK8963)
▼Cm5::unit::UnitMPU6xxx	Shared base for the TDK InvenSense MPU 6-axis family (accel + gyro + temp)
Cm5::unit::UnitMPU6050	TDK InvenSense MPU-6050 6-axis IMU (accel + gyro + temp). WHO_AM_I 0x68
▼Cm5::unit::UnitMPU6500	TDK InvenSense MPU-6500 6-axis core (accel + gyro + temp)
Cm5::unit::UnitMPU9250	TDK InvenSense MPU-9250 9-axis IMU. Accel/gyro/temp (this unit itself) + AK8963 mag (mag())
Cm5::unit::UnitMPU6886	TDK InvenSense MPU-6886 6-axis IMU (accel + gyro + temp). WHO_AM_I 0x19
Cm5::unit::UnitMiniIMUPro	Unit Mini IMU-Pro (U171): BMI270 (0x68, fixed – no address switch) + BMP280 (0x76) on the GROVE main bus, with a BMM150 magnetometer wired to the BMI270's AUX interface (ASDX/ASCX), not to the main bus. The predecessor of Unit DoF9/DoF10, with a BMM150/BMP280 instead of the BMM350/SPA06
Cm5::unit::UnitSH200Q	Senodia SH200Q 6-axis IMU (accel + gyro + temp). No standalone GROVE unit exists; it is the built-in IMU of the earliest (2019.3) M5StickC and of the 2019.7 M5Stack Fire (there paired with a discrete BMM150 magnetometer), on the internal I2C bus at 0x6C
Cm5::unit::UnitAK8963::config_t	Settings for begin()
▼Cm5::unit::UnitBMI270::config_t	Settings for begin()
Cm5::unit::UnitBMI270AuxBMM150::config_t	Settings for begin(), extending the base with the magnetometer's own
Cm5::unit::UnitBMM150::config_t	Settings for begin()
Cm5::unit::UnitBMM350::config_t	Settings for begin()
Cm5::unit::UnitMAG3110::config_t	Settings for begin()
Cm5::unit::UnitMPU6xxx::config_t	Settings for begin()
Cm5::unit::UnitSH200Q::config_t	Settings for begin()
Cm5::unit::ak8963::Data	One AK8963 sample: an 8-byte burst from ST1 (0x02) plus the device ASA trim
Cm5::unit::bmi270::Data	One measurement. Accel/gyro are always 12 bytes, little-endian (register 0x0C when the AUX/BMM150 bridge is not in use, or bytes [8..19] of the 20 byte burst from register 0x04 when it is; see UnitBMI270::read_measurement())
Cm5::unit::bmm150::Data	One measurement (8 bytes burst from REG_DATA_X_LSB, register 0x42)
Cm5::unit::bmm350::Data	One measurement (12 bytes burst from REG_MAG_X_XLSB, register 0x31): 9 bytes magnetometer (X,Y,Z, 24bit little-endian each) followed by 3 bytes temperature (24bit little-endian)
Cm5::unit::mag3110::Data	One MAG3110 sample: a 7-byte burst from DR_STATUS (0x00)
Cm5::unit::mpu6886::Data	One measurement (14 bytes burst from REG_ACCEL_XOUT_H, big-endian)
Cm5::unit::sh200q::Data	One measurement (14 bytes burst from REG_OUTPUT, little-endian – NOT the MPU byte order)
Cm5::imu::AhrsImu::imu_3d_t	3-axis float vector, layout-compatible with m5::IMU_Class::imu_3d_t
Cm5::imu::imu_convert_param_t	Raw to physical unit conversion coefficients
Cm5::imu::AhrsImu::imu_data_t	Merged accel/gyro/mag sample, layout-compatible with m5::IMU_Class::imu_data_t
Cm5::imu::imu_physical_data_t	Merged, converted physical-unit IMU sample (AhrsController::latest())
Cm5::imu::imu_raw_data_t	Unified raw data (chip-native axes, no remap applied)
▼Cm5::imu::IMUDataSource	Thin contract between measurement units and consumers (e.g. AHRS)
Cm5::unit::UnitAK8963	3-axis magnetometer unit. No standalone GROVE unit exists; it is the magnetometer embedded in the MPU9250 found on early classic M5Stack Core/Fire boards, reachable at 0x0C once the MPU9250's I2C bypass is enabled (see m5::unit::imu::enableAuxBypass)
Cm5::unit::UnitBMI270	6-axis (accel + gyro) IMU unit. CoreS3/AtomS3R built-in
Cm5::unit::UnitBMM150	3-axis magnetometer unit. No standalone GROVE unit exists for this chip; it is found built into some boards (e.g. classic M5Stack Core/Fire, paired with MPU6886) and as the auxiliary sensor of UnitBMI270
Cm5::unit::UnitBMM350	3-axis magnetometer unit (U231, GROVE)
Cm5::unit::UnitMAG3110	NXP/Freescale MAG3110 3-axis magnetometer. No standalone GROVE unit exists; it is the magnetometer on the original (2017) classic M5Stack Gray (paired with an MPU6050). It sits directly on the host I2C bus at 0x0E (no aux bypass needed, unlike the MPU9250's AK8963)
Cm5::unit::UnitMPU6xxx	Shared base for the TDK InvenSense MPU 6-axis family (accel + gyro + temp)
Cm5::unit::UnitSH200Q	Senodia SH200Q 6-axis IMU (accel + gyro + temp). No standalone GROVE unit exists; it is the built-in IMU of the earliest (2019.3) M5StickC and of the 2019.7 M5Stack Fire (there paired with a discrete BMM150 magnetometer), on the internal I2C bus at 0x6C
Cm5::math::Matrix< R, C >	Fixed-size (R rows x C columns) float matrix, std::array backed (no heap allocation)
Cm5::math::Matrix< 7, 7 >
Cm5::unit::bmm350::otp_compensation_t	Per-chip OTP compensation coefficients (read out at boot from the sensor's one-time-programmable memory), consumed by compensate_temp() and compensate_mag(). All-zero (default-constructed, aside from t0) is a neutral / pass-through configuration
▼CPeriodicMeasurementAdapter
Cm5::unit::UnitAK8963	3-axis magnetometer unit. No standalone GROVE unit exists; it is the magnetometer embedded in the MPU9250 found on early classic M5Stack Core/Fire boards, reachable at 0x0C once the MPU9250's I2C bypass is enabled (see m5::unit::imu::enableAuxBypass)
Cm5::unit::UnitBMI270	6-axis (accel + gyro) IMU unit. CoreS3/AtomS3R built-in
Cm5::unit::UnitBMM150	3-axis magnetometer unit. No standalone GROVE unit exists for this chip; it is found built into some boards (e.g. classic M5Stack Core/Fire, paired with MPU6886) and as the auxiliary sensor of UnitBMI270
Cm5::unit::UnitBMM350	3-axis magnetometer unit (U231, GROVE)
Cm5::unit::UnitMAG3110	NXP/Freescale MAG3110 3-axis magnetometer. No standalone GROVE unit exists; it is the magnetometer on the original (2017) classic M5Stack Gray (paired with an MPU6050). It sits directly on the host I2C bus at 0x0E (no aux bypass needed, unlike the MPU9250's AK8963)
Cm5::unit::UnitMPU6xxx	Shared base for the TDK InvenSense MPU 6-axis family (accel + gyro + temp)
Cm5::unit::UnitSH200Q	Senodia SH200Q 6-axis IMU (accel + gyro + temp). No standalone GROVE unit exists; it is the built-in IMU of the earliest (2019.3) M5StickC and of the 2019.7 M5Stack Fire (there paired with a discrete BMM150 magnetometer), on the internal I2C bus at 0x6C
Cm5::math::Quaternion	Plain Hamilton quaternion (float) used to represent attitude
Cm5::unit::bmm150::trim_t	Factory trim (calibration) values read from registers 0x5D-0x71, consumed by the compensation formulas in Data::comp_x()/comp_y()/comp_z()
Cm5::math::Vector3	Plain 3D vector (float)