BNO055 Units (Arduino)

[Marc_3D]

Hello, I am trying to understand the sensor output of my BNO055

Currently I am publishing data via Rosserial which works fine:

The output is as follows:

According to the docs the linear accelearation should be in m/s² However it seems to be mm/s².

Furthermore, the arudino commands to change the units dont seem to work:

void setup()

{

delay(1000);

Wire.begin();

BNO_Init(&bno);

bno055_set_operation_mode(OPERATION_MODE_NDOF);

delay(1);

bno055_set_accel_unit(0x00); // m/s²

delay(1);

bno055_set_gyro_unit(0x01); // rps

delay(1);

bno055_set_euler_unit(0x01); // rad

delay(1);

nh.initNode();

nh.advertise(temp_pub);

nh.advertise(mag_pub);

nh.advertise(imu_pub);

nh.advertise(grav_pub);

Serial.begin(921600);

nh.loginfo("initialization done.");

}

Changing the values between 0x00 and 0x01 doenst seem to make any difference.

So my questions are:

1) What am I doing wrong with the arduino code
2) What are default units of the BNO055 in NDOF mode?

[Marc_3D · Accepted solution]

It was beause I didnt divide by the given LSB values