BNO055 roll drift

[14niepce]

Hello,

I'm working on a project to use BNO055 on automobile domain.
The device will be attached around the engine (not possible to do all the movements for calibration described in your video https://www.youtube.com/watch?v=Bw0WuAyGsnY&t=6s).

I 've got the calibration offsets from my desk and placed into the code (extracts) :
uint8_t IMU_Calibration[22]={231,255,244,255,234,255,100,0 ,60 ,254,112,253,255,255,253,255,0 ,0 ,232,3 ,148,2 };
BNO055_SetOffsets(IMU_Calibration);

My first test is placing the device inside the car (anys from engine), using NDOF mode.
I get strange roll results, if the car only turned to one side.
Please see images.I cropped the map image for privacy, but most of the data is good.

Any iddeas please ?

[FAE_CA1]

Hi,

Thanks for your inquiry.

Please use BNO055 IMU 6DoF sensor fusion mode instead of 9DoF mode, because it is not possible to calibrate the magnetometer when BNO055 is installed in vehicle. Usually we need to rotate the device randomly in 3D space to calibrate the magnetometer and the vehicle can not be rotated in 3D space. In addition, the vehicle has a lot of metal material that will generate magnetic interference fields so that the 9DoF sensor fusion mode will not be working properly.

Thanks.