03-24-2020 04:05 PM
Hi,
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?
Cheers,
Chris
Solved! Go to Solution.
07-11-2022 07:46 PM
Thank you for your reply and the document.
When I walk through the first example in the provided document, it totally makes sense with the datasheet, but in the second example, on the paper I get the following values instead which is confusing:
Register axis_map_config 0x41 = 0b00(00)(10)(01) = 0x09
| Z_body | Y_body | X_body |
|+X_55(00)|-Z_55(10)|-Y_55(01)|
Register axis_map_sign 0x42 = 0b0000 0(1)(1)(0) = 0x06
| X_body | Y_body | Z_body |
|-Y_55(1)|-Z_55(1)|+X_55(0)|
I am confused about what I am missing.
07-11-2022 09:54 PM