Adafruit BNO055 - Orientation of the sensor

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magica1985
 
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Adafruit BNO055 - Orientation of the sensor

Post by magica1985 »

I would like to know what is the orientation of the sensor (x, y, z direction). Also if it is possible to change this orientation to some other orientation.

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adafruit_support_mike
 
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Re: Adafruit BNO055 - Orientation of the sensor

Post by adafruit_support_mike »

The default axes are shown on page 24 of the datasheet:
axes.jpg
axes.jpg (35.74 KiB) Viewed 229 times
It's possible to re-map the axes, but the Adafruit library doesn't have code to support that. You'll need to read through the datasheet and work out the command sequence for that:

http://www.adafruit.com/datasheets/BST_ ... 000_12.pdf

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vsherry72
 
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Re: Adafruit BNO055 - Orientation of the sensor

Post by vsherry72 »

The orientation of the sensor can be changed (from it's default "P1") to any of the other orientations listed on page 25 of the BNO055 Datasheet.
The function is in the Adafruit_BNO055::begin routine of Adafruit_BNO055.cpp.
The Configure axis mapping function is rem'ed out in the cpp, just un-rem it, change the "P0-7" value and the axes and direction of the axes change.
I assume it's remarked out in the cpp to save some cycles (and P1 is selected by default without it).
Remember to save the cpp and recompile see the changes.

I found I could flip the sensor axes and "polarities" using the DEFINEs or by setting other hex values.
The changes are readily apparent if you run a Processing sketch.

The BNO055 breakout is an amazing piece of hardware!

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