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About jspear16
since
10-06-2021
05-26-2022
jspear16
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9
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3
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05-24-2022
08:38 PM
Hello all. I am using the BNO055 in NDOF mode, gathering the quaternions from the BNO055, and converting them to Euler Angles as shown in the wikipedia article here . We are making a modification to our device to where the orthoganl axes of the BNO055 do not line up with our systems axes, and thus we are trying to make an offset. Below I have attached an image showing the desired change: In the above image, the black arrows represent the axes that we have remapped the BNO055 to (in accordance with the Datasheet), and the dashed red arrows represent where we want to shift the x-z coordinate plane, with the y axis remaining the same. The outer box is the physical orientation of the BNO055. This is just an offset to the pitch by roughly 30 degrees, however, we cannot just simply add 30 degrees to the final pitch as this will cause 2nd and 3rd order problems that need to then be rectified. In an attempt to add an offset without generating the 2nd and 3rd order problems, we are trying to calculate the quaternion version of a 30 degree pitch offset, and use it to rotate the x-z plane. Unfortunately, we have not run into any success, as any adjustments we make to the quaternions reflect erroneous data after it is converted to the Euler Angles. If anyone has more experience with quaternions and rotating the axes, help would be greatly appreciated.
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01-26-2022
10:50 PM
Hello Bosch Community, Hopefully this is a simple question, but I am trying to read out my magnetometer and gyroscope offset values, and they are not changing when the device is moved, power cycled, re-programmed, etc. Is this supposed to be the case? I am in NDOF mode at the time of reading. I have also attempted to read while in CONFIG mode, and they are the same values. I have never tried to write any offset values. Furthermore, if anyone can explain the offset readings that would be helpful. I have read over the datasheet, but I am still confused on the exact purpose/use of the offsets. Thank you in advance.
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01-03-2022
04:57 PM
1 Like
Essentially, we are pointing the device at a specified heading, arbitrarily laying the device down on a table, waiting five minutes, then pointing the device back at the specified heading. The two points specifically listed where the two recordings taken before and after the five minute mark. At these two points, the device is pointing at the same exact spot, but the reading is off by nearly 9 degrees. To give a little more information, since this thread was started, we have changed some settings (switched to FMC ON mode, and significantly increased the no motion duriation threshold to prevent the BNO055 from being placed into Low Power mode). This has shown some good improvements. If there is any other advice on making sure the device can reproduce consistent data after long periods of remaining stationary, that would be very helpful. However, improvements have been made, so if there is no other advice, I will close this thread.
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12-21-2021
06:20 PM
Ok, just to put a cap on this thread, it can be said that the driving algorithm used in the BNO055 is robust enough to tell the difference between a magnet being brought close to the device, and an actual change in position because of the combination of data from all three sensors? I am assuming this is correct, but I just want to end in clarity.
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12-13-2021
04:22 PM
Is this a proprietary software to Bosch? Is ther any other general information that you can share with me in regards to how the system makes these offsets? If not, that's understandable, but I would like to ask just in case. Thanks.
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