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I gave up trying to use it... It's not stable unless it's sitting perfectly still. ... View more

I attached a file that includes a printout of the Cal state following my attempt to write the cal offsets. I used two techniques, the first set of data is using the simple method explained in the manual. You can see from the data that the device eventually unlocks. The second set (bottom of the file) is where I use the Adefruit startup routine I documented in a previous post in this thread. That routine never has a problem, but it does take about 2s for the device to come up. ... View more

A little more detail... the device is on an Adafruit breakout board, and I'm using their library. This is the initialization routine they use that works for me. If I use the simple method referenced in the manual, the device won't lock up and I had to go through the manual cal process which isn't practical in my application. I also tried adding delays between and after the three line process you suggested to no avail. This is what works. /* Switch to config mode (just in case since this is the default) */ setMode(OPERATION_MODE_CONFIG); /* Reset */ write8(BNO055_SYS_TRIGGER_ADDR, 0x20); /* Delay incrased to 30ms due to power issues https://tinyurl.com/y375z699 */ delay(30); while (read8(BNO055_CHIP_ID_ADDR) != BNO055_ID) { delay(10); } delay(50); /* Set to normal power mode */ write8(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL); delay(10); write8(BNO055_PAGE_ID_ADDR, 0); /* Set the output units */ /* uint8_t unitsel = (0 << 7) | // Orientation = Android (0 << 4) | // Temperature = Celsius (0 << 2) | // Euler = Degrees (1 << 1) | // Gyro = Rads (0 << 0); // Accelerometer = m/s^2 write8(BNO055_UNIT_SEL_ADDR, unitsel); */ /* Configure axis mapping (see section 3.4) */ /* write8(BNO055_AXIS_MAP_CONFIG_ADDR, REMAP_CONFIG_P2); // P0-P7, Default is P1 delay(10); write8(BNO055_AXIS_MAP_SIGN_ADDR, REMAP_SIGN_P2); // P0-P7, Default is P1 delay(10); */ write8(BNO055_SYS_TRIGGER_ADDR, 0x0); delay(10); /* Set the requested operating mode (see section 3.3) */ setMode(mode); delay(20); // write the cal registers SetSensorCal(); delay(1000); setExtCrystalUse(true); ... View more

I tried that but couldn't get it to work. See the next comment for more details. ... View more

Can you comment on how I can periodically program the sensor offsets? It's my understanding you enter config mode, program the offsets, then switch to the desired operation mode. I've had mixed results with that process, so I assume there is some timing requirement I'm missing. ... View more