BHI260AB Gyro Axis - Change precedence

[nameeri]

Hello,

I was wondering if there is a way to change the order of the axis for the gyro? For example, in our application we have a greater importance on pitch vs roll or yaw, and so I would like the pitch axis to be processed before the roll and yaw. Is there a way to set the axis heirarchy on the BHI260? Either via the API or by changing it in the SDK firmware?

[BSTRobin]

Hi nameeri,

Axis could be remapped, refer data sheet "20.3 Sensing axes and axes remapping". You can place sensor to the position you wanted, then do axis remapping.

[nameeri]

I understand how this changes the orientation of the gyro (with respect to its defaults) into a different coordinate plane, but how does this change the precedence of which axis comes first?

We have applied our axis remapping already. How do I adjust the remapping matrix (Cal0-Cal8) to tell it to process an axis first,  second and third? Our config section for the remapping is below.

#Physical Drivers
#DriverID,Bus,Addr,GPIO,Cal0,Cal1,Cal2,Cal3,Cal4,Cal5,Cal6,Cal7,Cal8,Off0,Off1,Off2,maxRate,Range
12,i2c0,12,-, 0, 1, 0, 0, 0,1,-1, 0, 0, 0, 0, 0, 100.000000, 0 #AK09915Mag
32,spi0,25,2, 0, 1, 0, 0, 0,1,-1, 0, 0, 0, 0, 0, 100.000000, 0 #BHI260Accel
33,spi0,25,-, 0, 1, 0, 0, 0,1,-1, 0, 0, 0, 0, 0, 100.000000, 0 #BHI260Gyro

[BSTRobin]

Hi nameeri,

From the user side, all pitch, roll, yaw are processed at the same time and output to the user without sequencing.
BHI260AB didn't have special software to support to process pitch axis before the roll and yaw.