BNO055 Setting Radius

[GoPiGoCARL]

Could anyone elaborate on:

  2. set the proper radius you want

From BNO055 Radius is always zero 

My setup:

• The BNO055 on my GoPiGo3 robot is roughly 100mm from the center of rotation in the "heading" plane.
• Running in IMUPLUS mode (Fusion with Gyros and Accels only)
• REG_UNIT_SEL = 0 
• Remap:  BNO055.set_axis_remap(
                                          BNO055.AXIS_REMAP_X,
                                          BNO055.AXIS_REMAP_Z,
                                          BNO055.AXIS_REMAP_Y,
                                          BNO055.AXIS_REMAP_POSITIVE,
                                          BNO055.AXIS_REMAP_NEGATIVE,
                                          BNO055.AXIS_REMAP_POSITIVE)
  
  

What value should I write for RADIUS?
# Radius registers
REG_ACCEL_RADIUS_LSB        = 0x67
REG_ACCEL_RADIUS_MSB        = 0x68
REG_MAG_RADIUS_LSB          = 0x69
REG_MAG_RADIUS_MSB          = 0x6A

[Vincent · Accepted solution]

RADIUS is the value you should get from BNO055 when the calibration level reaches 3 (you can get from registe r0x35).

You can restore the RADIUS value next time power on the chip with the value you read and stored after calibration level 3.