We are performing some tests on the BHI260AP shuttle board and driving it using the provided driver on GitHub repo on our custom MCU board: https://github.com/BoschSensortec/BHY2-Sensor-API
In our application we require to mount the sensor vertically; however, using the available remapping function for physical acc/gyro sensors as follows:
orient_matrix.c[0] = 0; orient_matrix.c[1] = -1; orient_matrix.c[2] = 0;
orient_matrix.c[3] = 0; orient_matrix.c[4] = 0; orient_matrix.c[5] = -1;
orient_matrix.c[6] = 1; orient_matrix.c[7] = 0; orient_matrix.c[8] = 0;
rslt += bhy2_set_orientation_matrix(1, orient_matrix, &bhy2);
rslt += bhy2_set_orientation_matrix(3, orient_matrix, &bhy2);
leads to incorrect values for virtual sensors: BHY2_SENSOR_ID_ACC, BHY2_SENSOR_ID_GYRO, and BHY2_SENSOR_ID_GAMERV. It passes those two functions without error though.
Mounting the sensor in either of the 8 orientations shown in Figure 35 of the datasheet provides expected values. Hence, I was wondering if our vertical axes remapping was wrong or if vertical mounting is not possible with this sensor at all !!!!
