From 646a0d462d4bf77e9231d6b730f3efdebc452d73 Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Sat, 2 May 2026 21:02:44 +1000
Subject: [PATCH 01/16] [bmi270] Document new component
---
public/images/imu.svg | 26 ++++++
src/content/docs/components/index.mdx | 1 +
src/content/docs/components/sensor/bmi270.mdx | 82 +++++++++++++++++++
3 files changed, 109 insertions(+)
create mode 100644 public/images/imu.svg
create mode 100644 src/content/docs/components/sensor/bmi270.mdx
diff --git a/public/images/imu.svg b/public/images/imu.svg
new file mode 100644
index 0000000000..b641bcb584
--- /dev/null
+++ b/public/images/imu.svg
@@ -0,0 +1,26 @@
+
diff --git a/src/content/docs/components/index.mdx b/src/content/docs/components/index.mdx
index b034aa7192..4b15056ac0 100644
--- a/src/content/docs/components/index.mdx
+++ b/src/content/docs/components/index.mdx
@@ -531,6 +531,7 @@ Sensors are organized into categories; if a given sensor fits into more than one
From 13fa5d7859e1d2beaad10e2a68a7c38cf16c7edd Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Sat, 2 May 2026 21:11:08 +1000
Subject: [PATCH 02/16] Clarify headings; add dark_invert
---
src/content/docs/components/index.mdx | 2 +-
src/content/docs/components/sensor/bmi270.mdx | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/content/docs/components/index.mdx b/src/content/docs/components/index.mdx
index 4b15056ac0..a15bf8c0c3 100644
--- a/src/content/docs/components/index.mdx
+++ b/src/content/docs/components/index.mdx
@@ -531,7 +531,7 @@ Sensors are organized into categories; if a given sensor fits into more than one
Date: Sun, 3 May 2026 14:37:00 +1000
Subject: [PATCH 03/16] Add axis_map docs
---
src/content/docs/components/sensor/bmi270.mdx | 31 +++++++++++++++----
1 file changed, 25 insertions(+), 6 deletions(-)
diff --git a/src/content/docs/components/sensor/bmi270.mdx b/src/content/docs/components/sensor/bmi270.mdx
index b092d63596..3719530415 100644
--- a/src/content/docs/components/sensor/bmi270.mdx
+++ b/src/content/docs/components/sensor/bmi270.mdx
@@ -51,16 +51,30 @@ sensor:
- **address** (*Optional*, int): Manually specify the I²C address of the sensor. Defaults to `0x68`.
The BMI270 supports `0x68` (SDO to GND) and `0x69` (SDO to VDDIO).
-- **acceleration_range** (*Optional*, string): The full-scale range of the accelerometer. One of
+- **accelerometer_range** (*Optional*, string): The full-scale range of the accelerometer. One of
`2G`, `4G`, `8G`, `16G`. Defaults to `4G`.
-- **acceleration_odr** (*Optional*, string): The output data rate of the accelerometer. One of
+- **accelerometer_odr** (*Optional*, string): The output data rate of the accelerometer. One of
`12_5HZ`, `25HZ`, `50HZ`, `100HZ`, `200HZ`, `400HZ`, `800HZ`, `1600HZ`. Defaults to `100HZ`.
- **gyroscope_range** (*Optional*, string): The full-scale range of the gyroscope. One of
`125DPS`, `250DPS`, `500DPS`, `1000DPS`, `2000DPS`. Defaults to `2000DPS`.
- **gyroscope_odr** (*Optional*, string): The output data rate of the gyroscope. One of
`25HZ`, `50HZ`, `100HZ`, `200HZ`, `400HZ`, `800HZ`, `1600HZ`, `3200HZ`. Defaults to `200HZ`.
+- **axis_map** (*Optional*, mapping): Remap or invert the physical axes of the sensor to match
+ your board orientation. Each key (`x`, `y`, `z`) maps to the physical axis it should read from,
+ optionally prefixed with `-` to invert. All three axes must be present and each physical axis
+ may only appear once.
+
+ ```yaml
+ # Example: swap X and Y, invert Z
+ bmi270:
+ axis_map:
+ x: y
+ y: x
+ z: "-z"
+ ```
+
- **update_interval** (*Optional*, [Time](/guides/configuration-types#time)): The interval at which
- sensor data is read. Defaults to `50ms`.
+ sensor data is read. Defaults to `250ms`.
- **id** (*Optional*, [ID](/guides/configuration-types#id)): Manually specify the ID used for code generation.
### Sensor configuration
@@ -69,9 +83,14 @@ sensor:
- `acceleration_x`: X-axis acceleration in `g`.
- `acceleration_y`: Y-axis acceleration in `g`.
- `acceleration_z`: Z-axis acceleration in `g`.
- - `gyroscope_x`: X-axis angular velocity in `°/s`.
- - `gyroscope_y`: Y-axis angular velocity in `°/s`.
- - `gyroscope_z`: Z-axis angular velocity in `°/s`.
+ - `angular_rate_x`: X-axis angular velocity in `°/s`.
+ - `angular_rate_y`: Y-axis angular velocity in `°/s`.
+ - `angular_rate_z`: Z-axis angular velocity in `°/s`.
+ - `gyroscope_x`: Synonym for `angular_rate_x`.
+ - `gyroscope_y`: Synonym for `angular_rate_y`.
+ - `gyroscope_z`: Synonym for `angular_rate_z`.
+ - `pitch`: Pitch angle in `°`.
+ - `roll`: Roll angle in `°`.
- `temperature`: Internal die temperature in `°C`.
- All other options from [Sensor](/components/sensor).
From 1001017f3eceb128b20640a01dbdbab35933be32 Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Mon, 4 May 2026 10:52:04 +1000
Subject: [PATCH 04/16] Restructure
---
src/content/docs/components/index.mdx | 1 -
src/content/docs/components/motion/index.mdx | 72 +++++++++++++
src/content/docs/components/sensor/bmi270.mdx | 101 ------------------
src/content/docs/components/sensor/motion.mdx | 25 +++++
4 files changed, 97 insertions(+), 102 deletions(-)
create mode 100644 src/content/docs/components/motion/index.mdx
delete mode 100644 src/content/docs/components/sensor/bmi270.mdx
create mode 100644 src/content/docs/components/sensor/motion.mdx
diff --git a/src/content/docs/components/index.mdx b/src/content/docs/components/index.mdx
index a15bf8c0c3..b034aa7192 100644
--- a/src/content/docs/components/index.mdx
+++ b/src/content/docs/components/index.mdx
@@ -531,7 +531,6 @@ Sensors are organized into categories; if a given sensor fits into more than one
diff --git a/src/content/docs/components/sensor/bmi270.mdx b/src/content/docs/components/sensor/bmi270.mdx
deleted file mode 100644
index 3719530415..0000000000
--- a/src/content/docs/components/sensor/bmi270.mdx
+++ /dev/null
@@ -1,101 +0,0 @@
----
-description: "Instructions for setting up BMI270 Accelerometer/Gyroscope sensors."
-title: "BMI270 Accelerometer/Gyroscope Sensor"
----
-
-import APIRef from '@components/APIRef.astro';
-
-The `bmi270` sensor platform allows you to use your BMI270 Accelerometer/Gyroscope
-([datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi270-ds000.pdf))
-sensors with ESPHome. The [I²C Bus](/components/i2c) is required to be set up in
-your configuration for this sensor to work.
-
-The BMI270 is an ultra-low-power IMU optimized for wearable applications. It includes
-a 16-bit 3-axis accelerometer and a 16-bit 3-axis gyroscope, plus an on-chip temperature
-sensor. It requires an internal configuration blob to be uploaded at each power-on
-(handled automatically by this component).
-
-```yaml
-# Example configuration entry
-bmi270:
- acceleration_range: 4G
- gyroscope_range: 2000DPS
-
-sensor:
- - platform: bmi270
- type: acceleration_x
- name: "BMI270 Accel X"
- - platform: bmi270
- type: acceleration_y
- name: "BMI270 Accel Y"
- - platform: bmi270
- type: acceleration_z
- name: "BMI270 Accel Z"
- - platform: bmi270
- type: gyroscope_x
- name: "BMI270 Gyro X"
- - platform: bmi270
- type: gyroscope_y
- name: "BMI270 Gyro Y"
- - platform: bmi270
- type: gyroscope_z
- name: "BMI270 Gyro Z"
- - platform: bmi270
- type: temperature
- name: "BMI270 Temperature"
-```
-
-## Configuration variables
-
-### Base configuration
-
-- **address** (*Optional*, int): Manually specify the I²C address of the sensor. Defaults to `0x68`.
- The BMI270 supports `0x68` (SDO to GND) and `0x69` (SDO to VDDIO).
-- **accelerometer_range** (*Optional*, string): The full-scale range of the accelerometer. One of
- `2G`, `4G`, `8G`, `16G`. Defaults to `4G`.
-- **accelerometer_odr** (*Optional*, string): The output data rate of the accelerometer. One of
- `12_5HZ`, `25HZ`, `50HZ`, `100HZ`, `200HZ`, `400HZ`, `800HZ`, `1600HZ`. Defaults to `100HZ`.
-- **gyroscope_range** (*Optional*, string): The full-scale range of the gyroscope. One of
- `125DPS`, `250DPS`, `500DPS`, `1000DPS`, `2000DPS`. Defaults to `2000DPS`.
-- **gyroscope_odr** (*Optional*, string): The output data rate of the gyroscope. One of
- `25HZ`, `50HZ`, `100HZ`, `200HZ`, `400HZ`, `800HZ`, `1600HZ`, `3200HZ`. Defaults to `200HZ`.
-- **axis_map** (*Optional*, mapping): Remap or invert the physical axes of the sensor to match
- your board orientation. Each key (`x`, `y`, `z`) maps to the physical axis it should read from,
- optionally prefixed with `-` to invert. All three axes must be present and each physical axis
- may only appear once.
-
- ```yaml
- # Example: swap X and Y, invert Z
- bmi270:
- axis_map:
- x: y
- y: x
- z: "-z"
- ```
-
-- **update_interval** (*Optional*, [Time](/guides/configuration-types#time)): The interval at which
- sensor data is read. Defaults to `250ms`.
-- **id** (*Optional*, [ID](/guides/configuration-types#id)): Manually specify the ID used for code generation.
-
-### Sensor configuration
-
-- **type** (**Required**, string): The type of measurement to expose. One of:
- - `acceleration_x`: X-axis acceleration in `g`.
- - `acceleration_y`: Y-axis acceleration in `g`.
- - `acceleration_z`: Z-axis acceleration in `g`.
- - `angular_rate_x`: X-axis angular velocity in `°/s`.
- - `angular_rate_y`: Y-axis angular velocity in `°/s`.
- - `angular_rate_z`: Z-axis angular velocity in `°/s`.
- - `gyroscope_x`: Synonym for `angular_rate_x`.
- - `gyroscope_y`: Synonym for `angular_rate_y`.
- - `gyroscope_z`: Synonym for `angular_rate_z`.
- - `pitch`: Pitch angle in `°`.
- - `roll`: Roll angle in `°`.
- - `temperature`: Internal die temperature in `°C`.
-- All other options from [Sensor](/components/sensor).
-
-## See Also
-
-- [Sensor Filters](/components/sensor#sensor-filters)
-- [BMI160 Accelerometer/Gyroscope](/components/sensor/bmi160/)
--
diff --git a/src/content/docs/components/sensor/motion.mdx b/src/content/docs/components/sensor/motion.mdx
new file mode 100644
index 0000000000..4c4eac9ac8
--- /dev/null
+++ b/src/content/docs/components/sensor/motion.mdx
@@ -0,0 +1,25 @@
+---
+description: "Instructions for setting up motion (IMU) sensors with ESPHome."
+title: "Motion Sensor"
+---
+import APIRef from '@components/APIRef.astro';
+
+
+
+
+The Motion Sensor platform exposes sensors that read data from inertial measurement units (IMUs) such as accelerometers
+and gyroscopes.
+
+See the [Motion component](/components/motion) documentation for details on supported IMU chips and configuration options.
+
+```yaml
+# Example configuration entry
+sensor:
+ - platform: motion
+ type: acceleration_x
+ name: "Accel X"
+```
+
+## See Also
+
+- [Sensor Component](/components/sensor/)
From bb60ff990bb2dae0b1b517d9107b230e263e6c7c Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Mon, 4 May 2026 11:21:39 +1000
Subject: [PATCH 05/16] Update bmi270
---
src/content/docs/components/index.mdx | 1 +
src/content/docs/components/motion/bmi270.mdx | 55 +++++++++++++++++++
src/content/docs/components/motion/index.mdx | 1 +
src/content/docs/components/sensor/bmi270.mdx | 30 ++++++++++
4 files changed, 87 insertions(+)
create mode 100644 src/content/docs/components/motion/bmi270.mdx
create mode 100644 src/content/docs/components/sensor/bmi270.mdx
diff --git a/src/content/docs/components/index.mdx b/src/content/docs/components/index.mdx
index b034aa7192..a15bf8c0c3 100644
--- a/src/content/docs/components/index.mdx
+++ b/src/content/docs/components/index.mdx
@@ -531,6 +531,7 @@ Sensors are organized into categories; if a given sensor fits into more than one
diff --git a/src/content/docs/components/motion/index.mdx b/src/content/docs/components/motion/index.mdx
index 5d58c5f652..1d1ec770aa 100644
--- a/src/content/docs/components/motion/index.mdx
+++ b/src/content/docs/components/motion/index.mdx
@@ -69,4 +69,5 @@ sensor:
## See Also
- [Sensor Filters](/components/sensor#sensor-filters)
+- [BMI270 Accelerometer/Gyroscope platform](/components/motion/bmi270/)
-
diff --git a/src/content/docs/components/sensor/bmi270.mdx b/src/content/docs/components/sensor/bmi270.mdx
new file mode 100644
index 0000000000..dab380618e
--- /dev/null
+++ b/src/content/docs/components/sensor/bmi270.mdx
@@ -0,0 +1,30 @@
+---
+description: "Instructions for setting up BMI270 temperature sensor."
+title: "BMI270 Temperature Sensor"
+---
+
+The `bmi270` sensor platform provides access to the temperature sensor in a BMI270 Accelerometer/Gyroscope
+([datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi270-ds000.pdf)) with ESPHome.
+It requires a [`motion`](/components/motion) component to be configured with the `bmi270` platform,
+which handles the accelerometer and gyroscope data processing and configures the device. See that component for more information.
+
+```yaml
+# Example configuration entry
+motion:
+ - platform: bmi270
+
+sensor:
+ - platform: bmi270
+ type: temperature # Optional, temperature is the only supported type for this platform
+ name: "BMI270 Temperature"
+```
+
+## Configuration variables
+
+- **type** (*Optional*, string): Must be set to `temperature`, or simply omitted.
+- All other options from [Sensor](/components/sensor).
+
+## See Also
+
+- [Sensor Filters](/components/sensor#sensor-filters)
+- [BMI270 Accelerometer/Gyroscope platform](/components/motion/bmi270/)
From 3ac8a4934b6bda0ccc4a4920a1da40a30310b9c4 Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Mon, 4 May 2026 19:39:41 +1000
Subject: [PATCH 06/16] [lsm6ds3] Document new motion component
---
src/content/docs/components/index.mdx | 3 +-
src/content/docs/components/motion/index.mdx | 8 +++
.../docs/components/motion/lsm6ds3.mdx | 51 +++++++++++++++++++
.../docs/components/sensor/lsm6ds3.mdx | 30 +++++++++++
4 files changed, 91 insertions(+), 1 deletion(-)
create mode 100644 src/content/docs/components/motion/lsm6ds3.mdx
create mode 100644 src/content/docs/components/sensor/lsm6ds3.mdx
diff --git a/src/content/docs/components/index.mdx b/src/content/docs/components/index.mdx
index a15bf8c0c3..f2a3cf6bbb 100644
--- a/src/content/docs/components/index.mdx
+++ b/src/content/docs/components/index.mdx
@@ -531,11 +531,12 @@ Sensors are organized into categories; if a given sensor fits into more than one
diff --git a/src/content/docs/components/sensor/lsm6ds3.mdx b/src/content/docs/components/sensor/lsm6ds3.mdx
new file mode 100644
index 0000000000..f83b17b90d
--- /dev/null
+++ b/src/content/docs/components/sensor/lsm6ds3.mdx
@@ -0,0 +1,30 @@
+---
+description: "Instructions for setting up LSM6DS3 temperature sensor."
+title: "LSM6DS3 Temperature Sensor"
+---
+
+The `lsm6ds3` sensor platform provides access to the temperature sensor in a LSM6DS3 Accelerometer/Gyroscope
+([datasheet](https://www.st.com/resource/en/datasheet/lsm6ds3tr-c.pdf)) with ESPHome.
+It requires a [`motion`](/components/motion) component to be configured with the `lsm6ds3` platform,
+which handles the accelerometer and gyroscope data processing and configures the device. See that component for more information.
+
+```yaml
+# Example configuration entry
+motion:
+ - platform: lsm6ds3
+
+sensor:
+ - platform: lsm6ds3
+ type: temperature # Optional, temperature is the only supported type for this platform
+ name: "LSM6DS3 Temperature"
+```
+
+## Configuration variables
+
+- **type** (*Optional*, string): Must be set to `temperature`, or simply omitted.
+- All other options from [Sensor](/components/sensor).
+
+## See Also
+
+- [Sensor Filters](/components/sensor#sensor-filters)
+- [LSM6DS3 Accelerometer/Gyroscope platform](/components/motion/lsm6ds3/)
From 1db42a9a5fb3dbcecf929bc9bc8c0c54a7e942be Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Mon, 4 May 2026 19:51:05 +1000
Subject: [PATCH 07/16] Fix config examples
---
src/content/docs/components/motion/bmi270.mdx | 2 +-
src/content/docs/components/motion/index.mdx | 2 +-
src/content/docs/components/motion/lsm6ds3.mdx | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/content/docs/components/motion/bmi270.mdx b/src/content/docs/components/motion/bmi270.mdx
index 6f8f556887..c9c47d6e2d 100644
--- a/src/content/docs/components/motion/bmi270.mdx
+++ b/src/content/docs/components/motion/bmi270.mdx
@@ -19,7 +19,7 @@ sensor. It requires an internal configuration blob to be uploaded at each power-
# Example configuration entry
motion:
- platform: bmi270
- acceleration_range: 4G
+ accelerometer_range: 4G
gyroscope_range: 2000DPS
sensor:
diff --git a/src/content/docs/components/motion/index.mdx b/src/content/docs/components/motion/index.mdx
index 07887939e2..fd8b72d2b8 100644
--- a/src/content/docs/components/motion/index.mdx
+++ b/src/content/docs/components/motion/index.mdx
@@ -13,7 +13,7 @@ documentation for details.
# Example configuration entry
motion:
- platform: ...
- acceleration_range: 4G # Platform dependent options here
+ accelerometer_range: 4G # Platform dependent options here
sensor:
- platform: motion
diff --git a/src/content/docs/components/motion/lsm6ds3.mdx b/src/content/docs/components/motion/lsm6ds3.mdx
index dac1ded1e9..7aaa7d30ec 100644
--- a/src/content/docs/components/motion/lsm6ds3.mdx
+++ b/src/content/docs/components/motion/lsm6ds3.mdx
@@ -16,7 +16,7 @@ The LSM6DS3 is an IMU including a 16-bit 3-axis accelerometer and a 16-bit 3-axi
# Example configuration entry
motion:
- platform: lsm6ds3
- acceleration_range: 4G
+ accelerometer_range: 4G
gyroscope_range: 2000DPS
sensor:
From 066976b316aba14f81d9c00548712921fdc51500 Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Mon, 4 May 2026 20:43:25 +1000
Subject: [PATCH 08/16] Add OFF as a data rate option
---
src/content/docs/components/motion/lsm6ds3.mdx | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/content/docs/components/motion/lsm6ds3.mdx b/src/content/docs/components/motion/lsm6ds3.mdx
index 7aaa7d30ec..b97133810b 100644
--- a/src/content/docs/components/motion/lsm6ds3.mdx
+++ b/src/content/docs/components/motion/lsm6ds3.mdx
@@ -37,11 +37,11 @@ sensor:
- **accelerometer_range** (*Optional*, string): The full-scale range of the accelerometer. One of
`2G`, `4G`, `8G`, `16G`. Defaults to `4G`.
- **accelerometer_odr** (*Optional*, string): The output data rate of the accelerometer. One of
- `1_6HZ`, `12_5HZ`, `26HZ`, `52HZ`, `104HZ`, `208HZ`, `416HZ`, `833HZ`, `1666HZ`, `3332HZ`, `6664HZ`. Defaults to `104HZ`.
+ `OFF`, `12_5HZ`, `26HZ`, `52HZ`, `104HZ`, `208HZ`, `416HZ`, `833HZ`, `1666HZ`, `3332HZ`, `6664HZ`. Defaults to `104HZ`.
- **gyroscope_range** (*Optional*, string): The full-scale range of the gyroscope. One of
`125DPS`, `250DPS`, `500DPS`, `1000DPS`, `2000DPS`. Defaults to `2000DPS`.
- **gyroscope_odr** (*Optional*, string): The output data rate of the gyroscope. One of
- `12_5HZ`, `26HZ`, `52HZ`, `104HZ`, `208HZ`, `416HZ`, `833HZ`, `1666HZ`, `3332HZ`, `6664HZ`. Defaults to `208HZ`.
+ `OFF`, `12_5HZ`, `26HZ`, `52HZ`, `104HZ`, `208HZ`, `416HZ`, `833HZ`, `1666HZ`, `3332HZ`, `6664HZ`. Defaults to `208HZ`.
- All other options from [Motion](/components/motion).
From 1771e17f1485d6a1ded739ef72350bfe66b620d5 Mon Sep 17 00:00:00 2001
From: clyde <2366188+clydebarrow@users.noreply.github.com>
Date: Mon, 25 May 2026 11:36:10 +1000
Subject: [PATCH 09/16] Add calibration docs
---
src/content/docs/components/motion/index.mdx | 69 +++++++++++++++++++-
1 file changed, 68 insertions(+), 1 deletion(-)
diff --git a/src/content/docs/components/motion/index.mdx b/src/content/docs/components/motion/index.mdx
index 5d58c5f652..9a51a9258e 100644
--- a/src/content/docs/components/motion/index.mdx
+++ b/src/content/docs/components/motion/index.mdx
@@ -34,7 +34,7 @@ sensor:
- **axis_map** (*Optional*, mapping): Remap or invert the physical axes of the sensor to match
your board orientation. Each key (`x`, `y`, `z`) maps to the physical axis it should read from,
optionally prefixed with `-` to invert. All three axes must be present and each physical axis
- may only appear once.
+ may only appear once. Mutually exclusive with `transform_matrix`.
```yaml
# Example: swap X and Y, invert Z
@@ -46,6 +46,32 @@ sensor:
z: "-z"
```
+- **transform_matrix** (*Optional*, list of floats): A 3×3 transformation matrix applied to
+ raw accelerometer and gyroscope readings. This allows arbitrary calibration beyond simple
+ axis remapping. Can be specified as a flat list of 9 values (row-major order) or as a
+ 3×3 nested list. Mutually exclusive with `axis_map`.
+
+ ```yaml
+ # Example: 3x3 nested format
+ motion:
+ - platform: ...
+ transform_matrix:
+ - [0.998, 0.010, -0.050]
+ - [-0.010, 0.999, 0.020]
+ - [0.050, -0.020, 0.998]
+ ```
+
+ ```yaml
+ # Example: flat format
+ motion:
+ - platform: ...
+ transform_matrix: [0.998, 0.010, -0.050, -0.010, 0.999, 0.020, 0.050, -0.020, 0.998]
+ ```
+
+ The matrix can be obtained from the runtime calibration actions described below — after
+ calibration the computed matrix is logged in a format that can be copied directly into
+ your configuration for persistent use.
+
- **update_interval** (*Optional*, [Time](/guides/configuration-types#time)): The interval at which
sensor data is read. Defaults to `250ms`.
- **id** (*Optional*, [ID](/guides/configuration-types#id)): Manually specify the ID used for code generation.
@@ -66,6 +92,47 @@ sensor:
- `roll`: Roll angle in `°`.
- All other options from [Sensor](/components/sensor).
+## Actions
+
+### `motion.calibrate_level` Action
+
+This [action](/automations/actions#all-actions) computes a calibration matrix so that the
+current accelerometer reading maps to `[0, 0, 1]` (device flat, Z pointing up). Place the
+device on a level surface and trigger this action. It replaces the current `transform_matrix`.
+
+```yaml
+on_...:
+ then:
+ - motion.calibrate_level:
+ id: my_motion
+```
+
+After execution the resulting matrix is logged at INFO level in a format that can be
+copied into the `transform_matrix` configuration for persistent calibration.
+
+### `motion.calibrate_heading` Action
+
+This [action](/automations/actions#all-actions) corrects the heading (rotation around Z)
+after a prior level calibration. Tilt the device around its Y axis only (pitch forward or
+backward) and trigger this action. It composes a Z-rotation correction with the existing
+matrix so that the horizontal acceleration component falls entirely on the X axis, with its
+sign preserved.
+
+```yaml
+on_...:
+ then:
+ - motion.calibrate_heading:
+ id: my_motion
+```
+
+### Calibration procedure
+
+1. Place the device on a flat, level surface.
+2. Trigger `motion.calibrate_level`. This aligns Z with gravity.
+3. Tilt the device around the Y axis only (e.g. prop one edge up along the X direction).
+4. Trigger `motion.calibrate_heading`. This fixes the X/Y heading.
+5. Copy the logged `transform_matrix` values into your YAML configuration.
+
## See Also
- [Sensor Filters](/components/sensor#sensor-filters)
From e2609d3d76c60695f610d8f0ed7f972065f2cc5f Mon Sep 17 00:00:00 2001
From: clyde <2366188+clydebarrow@users.noreply.github.com>
Date: Tue, 26 May 2026 18:07:56 +1000
Subject: [PATCH 10/16] [lvgl] Document `rounded` property for meter arcs
---
src/content/docs/components/lvgl/widgets.mdx | 2 ++
src/content/docs/components/motion/index.mdx | 18 ++++++++++++++++++
2 files changed, 20 insertions(+)
diff --git a/src/content/docs/components/lvgl/widgets.mdx b/src/content/docs/components/lvgl/widgets.mdx
index c12768fb9b..f2ca6b59aa 100644
--- a/src/content/docs/components/lvgl/widgets.mdx
+++ b/src/content/docs/components/lvgl/widgets.mdx
@@ -1282,6 +1282,8 @@ The meter widget can visualize data in very flexible ways. It can use arcs, need
- **start_value**: The value in the scale range to start drawing the arc from.
- **end_value**: The value in the scale range to end drawing the arc to.
- **width**: Arc width in pixels. Defaults to `4`.
+ - **rounded**: Controls
+ - **rounded** (*Optional*, boolean): If `true` the ends of the arc will be rounded. Defaults to `false`.
- **padding**: Adjust the position of the arc from the scale radius with this amount (can be negative). Defaults to `0`. (The deprecated name `r_mod` is also accepted.)
- **opa**: Opacity of the arc.
- **image** (*Optional*): Add a rotating needle image to the scale:
diff --git a/src/content/docs/components/motion/index.mdx b/src/content/docs/components/motion/index.mdx
index 9a51a9258e..1eb9173077 100644
--- a/src/content/docs/components/motion/index.mdx
+++ b/src/content/docs/components/motion/index.mdx
@@ -100,11 +100,22 @@ This [action](/automations/actions#all-actions) computes a calibration matrix so
current accelerometer reading maps to `[0, 0, 1]` (device flat, Z pointing up). Place the
device on a level surface and trigger this action. It replaces the current `transform_matrix`.
+- **save** (*Optional*, boolean): Save the resulting matrix to NVS flash so it is
+ automatically restored on the next boot. Defaults to `false`.
+- **on_success** (*Optional*, [Automation](/automations/actions)): Actions to run when calibration succeeds.
+- **on_error** (*Optional*, [Automation](/automations/actions)): Actions to run when calibration fails
+ (e.g. sensor read failure or insufficient tilt).
+
```yaml
on_...:
then:
- motion.calibrate_level:
id: my_motion
+ save: true
+ on_success:
+ - logger.log: "Level calibration succeeded"
+ on_error:
+ - logger.log: "Level calibration failed"
```
After execution the resulting matrix is logged at INFO level in a format that can be
@@ -118,11 +129,18 @@ backward) and trigger this action. It composes a Z-rotation correction with the
matrix so that the horizontal acceleration component falls entirely on the X axis, with its
sign preserved.
+- **save** (*Optional*, boolean): Save the resulting matrix to NVS flash. Defaults to `false`.
+- **on_success** (*Optional*, [Automation](/automations/actions)): Actions to run when calibration succeeds.
+- **on_error** (*Optional*, [Automation](/automations/actions)): Actions to run when calibration fails.
+
```yaml
on_...:
then:
- motion.calibrate_heading:
id: my_motion
+ save: true
+ on_success:
+ - logger.log: "Heading calibration succeeded"
```
### Calibration procedure
From f8254dc0774c4130c1b36445e0b4ac014d2a1d0c Mon Sep 17 00:00:00 2001
From: clyde <2366188+clydebarrow@users.noreply.github.com>
Date: Tue, 26 May 2026 18:07:56 +1000
Subject: [PATCH 11/16] Remove unrelated change
---
src/content/docs/components/lvgl/widgets.mdx | 2 --
1 file changed, 2 deletions(-)
diff --git a/src/content/docs/components/lvgl/widgets.mdx b/src/content/docs/components/lvgl/widgets.mdx
index f2ca6b59aa..c12768fb9b 100644
--- a/src/content/docs/components/lvgl/widgets.mdx
+++ b/src/content/docs/components/lvgl/widgets.mdx
@@ -1282,8 +1282,6 @@ The meter widget can visualize data in very flexible ways. It can use arcs, need
- **start_value**: The value in the scale range to start drawing the arc from.
- **end_value**: The value in the scale range to end drawing the arc to.
- **width**: Arc width in pixels. Defaults to `4`.
- - **rounded**: Controls
- - **rounded** (*Optional*, boolean): If `true` the ends of the arc will be rounded. Defaults to `false`.
- **padding**: Adjust the position of the arc from the scale radius with this amount (can be negative). Defaults to `0`. (The deprecated name `r_mod` is also accepted.)
- **opa**: Opacity of the arc.
- **image** (*Optional*): Add a rotating needle image to the scale:
From a1e4f57db0401906b33f8efbfbcf660b94c09688 Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Sat, 30 May 2026 15:44:43 +1000
Subject: [PATCH 12/16] Fix indent
---
src/content/docs/components/motion/index.mdx | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/content/docs/components/motion/index.mdx b/src/content/docs/components/motion/index.mdx
index 1eb9173077..07e1db95bc 100644
--- a/src/content/docs/components/motion/index.mdx
+++ b/src/content/docs/components/motion/index.mdx
@@ -13,7 +13,7 @@ documentation for details.
# Example configuration entry
motion:
- platform: ...
- acceleration_range: 4G # Platform dependent options here
+ acceleration_range: 4G # Platform dependent options here
sensor:
- platform: motion
From abf8928437ed7248796848ecbf5ecfffdf65ef11 Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Sat, 30 May 2026 15:46:37 +1000
Subject: [PATCH 13/16] Remove redundant import
---
src/content/docs/components/sensor/motion.mdx | 2 --
1 file changed, 2 deletions(-)
diff --git a/src/content/docs/components/sensor/motion.mdx b/src/content/docs/components/sensor/motion.mdx
index 4c4eac9ac8..9757e4e48d 100644
--- a/src/content/docs/components/sensor/motion.mdx
+++ b/src/content/docs/components/sensor/motion.mdx
@@ -2,8 +2,6 @@
description: "Instructions for setting up motion (IMU) sensors with ESPHome."
title: "Motion Sensor"
---
-import APIRef from '@components/APIRef.astro';
-
From 19e5068e69a6e8efb784f3c4558d2f8e5a1eeb55 Mon Sep 17 00:00:00 2001
From: clydebarrow <2366188+clydebarrow@users.noreply.github.com>
Date: Sun, 31 May 2026 08:31:58 +1000
Subject: [PATCH 14/16] Add image
---
src/content/docs/components/index.mdx | 8 ++++
.../components/motion/images/calibrate.png | Bin 0 -> 1746564 bytes
src/content/docs/components/motion/index.mdx | 41 +++++++++++++++++-
3 files changed, 48 insertions(+), 1 deletion(-)
create mode 100644 src/content/docs/components/motion/images/calibrate.png
diff --git a/src/content/docs/components/index.mdx b/src/content/docs/components/index.mdx
index e50bbf9856..7cddbfcb8e 100644
--- a/src/content/docs/components/index.mdx
+++ b/src/content/docs/components/index.mdx
@@ -529,12 +529,14 @@ Sensors are organized into categories; if a given sensor fits into more than one
### Motion
+## Motion Components
+
+
+
## Number Components
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