Using the BNO055 sensor

This site is best viewed in a modern browser with JavaScript enabled.

Using the BNO055 sensor

janklug

Hi,
I have fitted a minibee with a BNO055, am sending quaternion data over and am receiving them correctly - but as integers.
I can't figure out how to scale or otherwise modify them correctly to float to get a useable quaternion in Max...

I am comparing the attempts I do with the minibee to results I get from sending the BNO055 quat over with the unmodified Adafruit library (as double value) on an ESP32.

Have tried offsetting and scaling them in the custom config part of the config.xml, in Max I tried to scale the range of 0 65565 to -1. 1., but somehow I can't get it right; the model scales and moves erroneously..

nescivi

Can you post the relevant snippet from the config-file that you are using?

The floating point translation originally in the BNO055 library was:

//   const double scale = (1.0 / (1<<14));
//   imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);

So that means a scaling factor of dividing by 16384, and it might be that some tricks should be done, as I'm not entirely sure what format the library/sensor returns the integers in...

Perhaps the easiest is to first in the config file just set the scale to 1 and the offset to 0, so you can see the integer numbers that are coming in.
Or turn on the verbosity in pydongui.py

@janklug Note: the tagging with @ should happen somewhere in the message, not in the title!