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:
7:f0eb18503c27
Parent:
6:07d01bf36ad0
Child:
8:46134e7474e7
--- a/BNO055.h	Wed Aug 23 09:44:43 2017 +0000
+++ b/BNO055.h	Sun Jan 28 19:35:11 2018 +0000
@@ -83,13 +83,7 @@
     double x;
     double y;
     double z;
-} BNO055_LIN_ACC_TypeDef;
-
-typedef struct {
-    double x;
-    double y;
-    double z;
-} BNO055_GRAVITY_TypeDef;
+} BNO055_VECTOR_TypeDef;
 
 typedef struct {
     int8_t acc_chip;
@@ -161,7 +155,7 @@
     /** Get Euler Angles
      * @param double type of 3D data address
      */
-    void get_Euler_Angles(BNO055_EULER_TypeDef *el);
+    void get_euler_angles(BNO055_EULER_TypeDef *el);
 
     /** Get Quaternion XYZ&W
      * @param int16_t type of 4D data address
@@ -171,12 +165,12 @@
     /** Get Linear accel data
      * @param double type of 3D data address
      */
-    void get_linear_accel(BNO055_LIN_ACC_TypeDef *la);
+    void get_linear_accel(BNO055_VECTOR_TypeDef *la);
 
     /** Get Gravity data
      * @param double type of 3D data address
      */
-    void get_gravity(BNO055_GRAVITY_TypeDef *gr);
+    void get_gravity(BNO055_VECTOR_TypeDef *gr);
 
     /** Get Chip temperature data both Acc & Gyro
      * @param int8_t type of data address