BNO055 Nine Degree of Freedom IMU with built in Quaternion function

BNO055 Module Improvements
24Jun2017

BNO055 Module Improvements 24Jun2017

The BNO055.js module was used to implement an application as described here:
Using an IMU to control an airplane image

http://forum.espruino.com/conversations/306319/

It was discovered that the Pitch data values from the module were changing for a fixed position of the sensor. The BNO055.js module was updated to correct this problem, the reset function and external clock functions were also added.
The attached program savCalBNO055.js is setup for a PICO connected to a BNO055 board. A normally open pushbutton connected from ground to pin B7 is used to save the calibration data to EEROM on the PICO. When all four of the calibration status indications equal 3, save the calibrations.
Once a calibration has been saved, the program has to be restarted. The presence of calibration in the EEROM is detected and they are read, displayed and loaded into the BNO055 chip. Here is and example:

sysstatus= 0
syscal= 0 Gyrcal= 0 Acccal= 0 Magcal= 0
sysstatus= 0
Calibration is defined
Aoffset=,-6,3,8,Moffset=,-14,90,-142,Goffset=,0,0,0,Aradius=,1000,Mradius=,816

Here is a data example.

sysstatus= 5
A=,0.47,-9.54,-1.62,m/s^2
M=,20.1875,-7,11.1875,uT
G=,-0.25,-0.3125,0.375,deg/s
Heading=,359.9375,Roll,2.6875,Pitch,99.75deg
Q=(,5276.5,-6259,-47.5,2.5,)E-14
Lin=,-0.01,0.1,-0.06,m/s^2
Grav=,0.46,-1.97,-1.66,m/s^2
Temperature= 64 F
syscal= 0 Gyrcal= 3 Acccal= 3 Magcal= 3
Aoffset=,-6,3,8,Moffset=,-14,90,-142,Goffset=,0,0,0,Aradius=,1000,Mradius=,816

2 Attachments

• BNO055.js
• savCalBNO055.js