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?
Solved! Go to Solution.
Thank you for your inquiry. Please refer to the app note at https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-mhs-an001.pdf for more informaiton regarding axes remapping.
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
but I observed the unexpected behaviours as follows:
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.
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 https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bno055-an007.....