sensor:
  - platform: qmi8658
    name: "QMI8658 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: qmi8658
    i2c_id: i2c_bus
    # Accelerometer full-scale range: 2G | 4G | 8G | 16G
    accelerometer_range: 4G

    # Accelerometer output data rate: 31_25HZ | 62_5HZ | 125HZ | 250HZ |
    #                                 500HZ | 1000HZ | 2000HZ | 4000HZ | 8000HZ
    accelerometer_odr: 1000HZ

    # Gyroscope full-scale range: 16DPS | 32DPS | 64DPS | 128DPS |
    #                             256DPS | 512DPS | 1024DPS | 2048DPS
    gyroscope_range: 2048DPS

    # Gyroscope output data rate: 31_25HZ | 62_5HZ | 125HZ | 250HZ |
    #                             500HZ | 1000HZ | 2000HZ | 4000HZ | 8000HZ
    gyroscope_odr: 1000HZ
    axis_map:
      x: y
      y: x
      z: -z