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    BNO055 mounted vertically

    BNO055 mounted vertically

    Occasional Visitor



    I've just started exploring using the BNO055, so please excuse my question if it's dumb. I chose the sensor because of the availiblity of Euler outputs, and that's what I'm using.

    I have the sensor working correctly providing it's flat, but I wish to mount the sensor vertically. When I try using the sensor vertically, and try to remap the axis using the AXIS_MAP_CONFIG register I can't seem to get it to work. In my case, Y remains as the default reset value, but X and Z axis are swapped.

    After the remap, Y doesn't seem to output anything sensible. With sensor vertical and stationary Y goes from 180 towards 0, or -180 towards 0, depending on the rotation around Y. The output of Y seems to start lagging the motion and not truly representative of the angle of its been rotated by.

    Am I missing something here, like the remap doesn't work with Euler, or you can't mount the sensor vertically?





    6 REPLIES 6

    Community Moderator
    Community Moderator


    Thank you for your inquiry. Please refer to the app note at for more informaiton regarding axes remapping.


    Occasional Contributor

    Is it possible to draw a picture to show the target coordinate and chip location? Meanwhile, need to know the value you set(AXIS_MAP_CONFIG & AXIS_MAP_SIGN).

    Established Member

    I have a similar problem with vertical mounting.

    I am using the GitHub BoschSensortec/BNO055_driver for my application and I can successfully set and validate the following setting
    AXIS_MAP_CONFIG:    0x06
    AXIS_MAP_SIGN:         0x00
    but I observed the unexpected behaviours as follows:


    • remapped Acc_x pointing up reads -g 
    • remapped Acc_y pointing up reads +g 
    • remapped Acc_z pointing up reads +g 

    2. From a level attitude, when I roll or pitch the board, let's say, +A deg, the corresponding angle first shows a +A deg and then changes to -A deg and stabilizes, as if the gyro and Acc axes sign do not agree in the sensor fusion engine.  

    by the way, I also tested with android and windows output format and it seems the problems still exist.
    I would appreciate any advice on axes remapping.

    Community Moderator
    Community Moderator


    Please see the attached "BNO055 axis remapping.pdf" for more information. After BNO055 axis remapping the only visible axes will become device body X/Y/Z axes (not BNO055 sensor x/y/z axes) and the pitch/roll/heading definition can be found on page 4 of BNO055 quick start guide document at