BNO055 with external AHRS

[Mason_Safavi]

Hi to community,

First of all, Huge thanks to BOSCH for BNO055, Its awesome and I really enjoy working with it.

I have been working with different IMUs and AHRS systems for a while, Now that I need to manipulate and edit some in AHRS matrices, which unfortunately I don't have access on BNO055 which is ok and I highly respect the company policy for that, so I decided to use BNO055 raw data to obtain smooth and accurate output with some modifications. 

So I started to implement a Kalman Based Quaternion Sensor Fusion Algorithm and I came up with some questions and thought the best place to ask is here.

1.What should I do exactly to obtain a smooth quaternion output?

2.Which ODR and FS setting should I set for my sensor?

3.In which frequency should I run my sensor fusion algorithm?

4.and any other important thing that may help

Regards,

Mason

[BSTRobin]

Hello Mason_Safavi,

Could you describe your detailed application scenario and requirement?

[Mason_Safavi]

Thanks for responding, @BSTRobin
Here is what I'm trying to achieve: I'm trying to use BNO055 with Adafruit_AHRS library which includes Kalman Based NXP Sensor Fusion Algorithm for obtaining the same BNO055's Smooth Quaternion output.
But I don't know which exact setting I should set to achieve that.(ODR,FS,Filter Frequency)

[BSTRobin]

Hello Mason_Safavi,

If you don't know how to config sensor setting, you could refer BNO055 example code in github.
https://github.com/BoschSensortec/BNO055_driver/blob/master/bno055_support.c