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    BHI260AB - difference between Rotation Vector and Orientation (virtual sensors)

    BHI260AB - difference between Rotation Vector and Orientation (virtual sensors)

    btruden_henway
    Long-established Member

    Hello, 

    I'm using a BHI260AB chip and I'd like to know the difference between the Rotation Vector and Orientation virtual sensors. I see that one is expressed in quaternions and the other in Euler angles. Both use a magnetometer (NDOF mode). I don't understand clearly what's the difference between both of them.

    In my application, I need to use the BHI chip to measure some inclination angles (vertical respect to the horizon and horizontal respect to a reference orientation), those inclination angles are the angles formed by the orientation of the BHI chip and a fixed frame of reference on the inertial frame (a frame fixed to the Earth).

    What would be the right virtual sensor to use for that purpose?

    Thanks!

    8 REPLIES 8

    Hi btruden_henway,

    I gave you a example, you can provide the information like this.

    coordinate system.png

    btruden_henway
    Long-established Member

    Hello BSTRobin, 

    Thank you for your repply.

    Here's the picture of my device and the different coordinates (sensors and target device coordinate system):

    btruden_henway_0-1657027144258.png

    Regards!

     

    Hi btruden_henway,

    For your sensor placement and target device coordinate system, you can refer the following code to do the axis remap.

    struct bhy2_orient_matrix acc_matrix = {1, 0, 0, 0, 1, 0, 0, 0, 1};
    struct bhy2_orient_matrix gyro_matrix = {1, 0, 0, 0, 1, 0, 0, 0, 1};
    struct bhy2_orient_matrix mag_matrix = {1, 0, 0, 0, -1, 0, 0, 0, -1};

    bhy2_set_orientation_matrix(BHY2_SENSOR_ID_ACC, acc_matrix, dev);
    bhy2_set_orientation_matrix(BHY2_SENSOR_ID_GYRO, gyro_matrix, dev);
    bhy2_set_orientation_matrix(BHY2_SENSOR_ID_MAG, mag_matrix, dev);

    btruden_henway
    Long-established Member

    Excellent, thanks

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