Alexander Lill / BNO055_fusion

Extended and refactored library for BNO055, an intelligent 9-axis absolute orientation sensor by Bosch Sensortec. It includes ACC, MAG and GYRO sensors and Cortex-M0 processor.

Fork of BNO055_fusion by Kenji Arai

Please note: pitch and roll in get_euler_angles are switched, the code should be like this:

h = dt[1] << 8 | dt[0]; r = dt[3] << 8 | dt[2]; p = dt[5] << 8 | dt[4];

See https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bno055-ds000.pdf

Diff: BNO055.h

Revision:
8:46134e7474e7
Parent:
7:f0eb18503c27
Child:
9:e7c8d34bf79a
--- a/BNO055.h	Sun Jan 28 19:35:11 2018 +0000
+++ b/BNO055.h	Sun Jan 28 19:38:51 2018 +0000
@@ -167,6 +167,21 @@
      */
     void get_linear_accel(BNO055_VECTOR_TypeDef *la);
 
+    /** Get Mag data
+     * @param double type of 3D data address
+     */
+    void get_mag(BNO055_VECTOR_TypeDef *qua);
+
+    /** Get Accel data
+     * @param double type of 3D data address
+     */
+    void get_accel(BNO055_VECTOR_TypeDef *la);
+
+    /** Get Gyro data
+     * @param double type of 3D data address
+     */
+    void get_gyro(BNO055_VECTOR_TypeDef *gr);
+    
     /** Get Gravity data
      * @param double type of 3D data address
      */