BNO055 mounted vertically

[skinnychris]

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

[FAE_CA1]

Hi,

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.

Thanks.

[shellywang · Accepted solution]

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).

[soroush]

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:

1. 

• 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.

[FAE_CA1]

Hi,

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.....

Thanks.