sensor:
  - platform: bmi270
    name: "BMI270 Temperature"

  - platform: motion
    type: acceleration_x
    name: "Accel X"
    accuracy_decimals: 4
    filters:
      - sliding_window_moving_average:
          window_size: 4
          send_every: 1
  - platform: motion
    type: acceleration_y
    name: "Accel Y"
    accuracy_decimals: 4
  - platform: motion
    type: acceleration_z
    name: "Accel Z"
    accuracy_decimals: 4

    # Gyroscope axes (unit: °/s)
  - platform: motion
    type: gyroscope_x
    name: "Gyro X"
  - platform: motion
    type: gyroscope_y
    name: "Gyro Y"
  - platform: motion
    type: gyroscope_z
    name: "Gyro Z"

  - platform: motion
    type: angular_rate_x
    name: "Angular Rate X"
  - platform: motion
    type: angular_rate_y
    name: "Angular Rate Y"
  - platform: motion
    type: angular_rate_z
    name: "Angular Rate Z"

  - platform: motion
    type: pitch
    name: "Pitch"
  - platform: motion
    type: roll
    name: "Roll"

motion:
  - platform: bmi270
  # Accelerometer full-scale range: 2G | 4G | 8G | 16G
    accelerometer_range: 4G

    # Accelerometer output data rate: 12_5HZ | 25HZ | 50HZ | 100HZ |
    #                                  200HZ | 400HZ | 800HZ | 1600HZ
    accelerometer_odr: 100HZ

    # Gyroscope full-scale range: 125DPS | 250DPS | 500DPS | 1000DPS | 2000DPS
    gyroscope_range: 2000DPS

    # Gyroscope output data rate: 25HZ | 50HZ | 100HZ | 200HZ |
    #                               400HZ | 800HZ | 1600HZ | 3200HZ
    gyroscope_odr: 200HZ
    axis_map:
      x: y
      y: x
      z: -z
