Ryota Yamamoto / BOARDC_BNO055

BNO055をI2CとUARTで使用するためのライブラリ。UARTはmbedにて不安定なため使用できるボードとできないボードがある模様。

Dependents:   BNO055_BME280_ Yabusame2_gyro GRhanawaizman test_deg_read

Files at this revision

API Documentation at this revision

Revision 5:64b033b30802, committed 2019-05-13

Comitter:
Yajirushi
Date:
Mon May 13 14:46:38 2019 +0000
Parent:
4:9efb4abafd2e
Commit message:
change comment

Changed in this revision

BNO055.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/BNO055.cpp	Mon May 13 14:17:45 2019 +0000
+++ b/BNO055.cpp	Mon May 13 14:46:38 2019 +0000
@@ -1164,12 +1164,12 @@
     // 2019/05/13: 記事中のRollとPitchの軸の説明が逆であるため修正
     double q3q3 = q3 * q3;
     
-    //Y-axis rotation
+    //X-axis rotation
     double m1 = +2.0 * (q1 * q2 + q3 * q4);
     double m2 = +1.0 - 2.0 * (q2 * q2 + q3q3);
     E_pitch = atan2(m1, m2) * 57.2957795131;
     
-    //X-axis rotation
+    //Y-axis rotation
     m1 = +2.0 * (q1 * q3 - q4 * q2);
     m1 = (m1 > 1.0)? 1.0 : m1;
     m1 = (m1 < -1.0)? -1.0 : m1;