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
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.cpp
- Revision:
- 14:9f9a12bcd8ed
- Parent:
- 13:92854c8deb3c
diff -r 92854c8deb3c -r 9f9a12bcd8ed BNO055.cpp --- a/BNO055.cpp Thu Feb 01 00:16:59 2018 +0100 +++ b/BNO055.cpp Fri Mar 05 13:58:00 2021 +0000 @@ -68,8 +68,8 @@ _i2c.write(chip_addr, dt, 1, true); _i2c.read(chip_addr, dt, 6, false); h = dt[1] << 8 | dt[0]; - p = dt[3] << 8 | dt[2]; - r = dt[5] << 8 | dt[4]; + r = dt[3] << 8 | dt[2]; + p = dt[5] << 8 | dt[4]; if (use_degrees()) { result->h = (double)h / 16;