BNO055 Accelerometer Coordinate System

[Marc_3D]

Hello,

Im having trouble making sense of the accelerometer values from my IMU. They seem to be inverted along the local X,Y,Z axes, or maybe Im understanding things wrong. Can you verify my train of thought?

- So according to the datasheet the default mode should be P1, which means that it alings to the coordiante system as printed on my bno055 sensor?
- When I move along a positive axis which are printed on the sensor I should get positive values for that axis correct?

[FAE_CA1 · Accepted solution]

Hi,

Thanks for your inquiry.

Please see the attached BNO055 axis remapping PDF file. When BNO055 accelerometer x axis is pointing to sky for example, you should see +1g value from x axis data registers. Similarly when BNO055 accelerometer x axis is pointing to ground for example, you should see -1g value from x axis data registers.

Please also refer to BNO055 quick start application note at https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bno055-an007.... regarding the definition of coordinate system. 

Thanks.

[Marc_3D]

Thanks for your reply. So in short, yes, the accelerometer measures the force in the opposite direction.