BNO055 : Returns the value -0.06 randomly

I am using the BNO055 for reading angular positions, velocities and accelerations.

While streaming data, I notice that I occassionally get the value -0.06 (for angular positions, velocities or accelerations, completely random and independent), which very clearly are outliers to the rest of the data. Of late, I have been receiving this datapoint more frequently.

Need help in understanding why the BNO055 outputs -0.06, and how it could be prevented/corrected.

Best reply by FAE_CA1

Hi,

My data plot is sampled at 100Hz, while yours 10Hz. I think there may be some issues in your Arduino I2C reading. Please use a logic analyzer to monitor the I2C bus between your Arduino and BNO055 to see if there are some clock stretching issues. You should get smooth data from BNO055, not with many +/-0.06 spikes.

Thanks.

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BNO055

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