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:
10:63a9849f0e97
Parent:
9:e7c8d34bf79a
Child:
11:17bc36c5ccbb
--- a/BNO055.h	Sun Jan 28 19:46:06 2018 +0000
+++ b/BNO055.h	Sun Jan 28 20:55:10 2018 +0000
@@ -262,6 +262,26 @@
       */
     uint8_t write_reg1(uint8_t addr, uint8_t data);
 
+    /** Determine if degrees (instead of radians) are used.
+      * @return true if degrees are used
+      */
+    bool use_degrees();
+
+    /** Determine if m/s*s (instead of mg) is used.
+      * @return true if m/s*s are used
+      */
+    bool use_mss();
+
+    /** Determine if dps (instead of rds) are used.
+      * @return true if dps are used
+      */
+    bool use_dps();
+
+    /** Determine if celsius (instead of fahrenheit) is used.
+      * @return true if celsius are used
+      */
+    bool use_celsius();
+
 protected:
     void initialize(void);
     void get_id(void);
@@ -288,6 +308,7 @@
     uint8_t  bootldr_rev_id;
     uint16_t sw_rev_id;
 
+    bool unit_flag_is_set(uint8_t flag);
 };
 
 //---------------------------------------------------------