What is the BNO055 euler angle reference frame?

[Goldmango]

Hi everyone,

I am using bno055 as the IMU 

I use the NDOF sensor fusion mode and get the Euler orientation. the datasheet says in the NDOF sensor fusion mode the IMU outputs absolute orientation.

I am confused about the Euler angle reference frame. 

[FAE_CA1]

Hi,

Thanks for your inquiry.

Please refer to BNO055 quick start guide document at https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bno055-an007..... The reference frame for BNO055 Euler angles pitch/roll/heading is ENU (east-north-up) based on earth magnetic north pole.

Thanks.

[Goldmango]

Thank you so much for your kindly reply.

I'm now using the BNO055 IMU to control the orientation of a quadcopter and I need to measure the Euler angle of the quadcopter with the North-East-Down reference frame.

how can I change the setting to get the Euler angle with respect to the N-E-D reference frame? 

what I am doing now is setting the sensor reference frame as default, reading the Quaternion value from the IMU, and converting the quaternion I get to Tait-Bryan z-y-x angles. by doing these, is the angle I get the Euler angle with respect to the N-E-D reference frame?

[FAE_CA1]

Hi,

Please see the attached "BNO055 axis remapping.pdf". The example inside the document is for ENU reference frame and different BNO055 locations on the PCB.

Now you can define your own NED reference frame for your product's body axes. According to the location of BNO055 on your PCB, you can figure out the axes remapping. Then the Euler angles from BNO0-55 output will be based on your NED frame.

Thanks.

[YFchen]

Thanks for the example file, but i got a lil bit confused is that i didn't find any addr in AXIS_REMAP_CONFIG is 0x12, is there any other addr map that can't be seen in the datasheet? if so, how can i get it, thanks