adafruit_bno055 - Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055

This is a CircuitPython driver for the Bosch BNO055 nine degree of freedom inertial measurement unit module with sensor fusion.

  • Author(s): Radomir Dopieralski
class adafruit_bno055.BNO055(i2c, address=40)[source]

Driver for the BNO055 9DOF IMU sensor.

acceleration

Gives the raw accelerometer readings, in m/s. Returns an empty tuple of length 3 when this property has been disabled by the current mode.

calibrated

Boolean indicating calibration status.

calibration_status

Tuple containing sys, gyro, accel, and mag calibration data.

euler

Gives the calculated orientation angles, in degrees. Returns an empty tuple of length 3 when this property has been disabled by the current mode.

external_crystal

Switches the use of external crystal on or off.

gravity

Returns the gravity vector, without acceleration in m/s. Returns an empty tuple of length 3 when this property has been disabled by the current mode.

gyro

Gives the raw gyroscope reading in radians per second. Returns an empty tuple of length 3 when this property has been disabled by the current mode.

linear_acceleration

Returns the linear acceleration, without gravity, in m/s. Returns an empty tuple of length 3 when this property has been disabled by the current mode.

magnetic

Gives the raw magnetometer readings in microteslas. Returns an empty tuple of length 3 when this property has been disabled by the current mode.

mode

Switch the mode of operation and return the previous mode.

Mode of operation defines which sensors are enabled and whether the measurements are absolute or relative. If a sensor is disabled, it will return an empty tuple.

legend: x=on, -=off +——————+——-+———+——+———-+ | Mode | Accel | Compass | Gyro | Absolute | +==================+=======+=========+======+==========+ | CONFIG_MODE | - | - | - | - | +——————+——-+———+——+———-+ | ACCONLY_MODE | X | - | - | - | +——————+——-+———+——+———-+ | MAGONLY_MODE | - | X | - | - | +——————+——-+———+——+———-+ | GYRONLY_MODE | - | - | X | - | +——————+——-+———+——+———-+ | ACCMAG_MODE | X | X | - | - | +——————+——-+———+——+———-+ | ACCGYRO_MODE | X | - | X | - | +——————+——-+———+——+———-+ | MAGGYRO_MODE | - | X | X | - | +——————+——-+———+——+———-+ | AMG_MODE | X | X | X | - | +——————+——-+———+——+———-+ | IMUPLUS_MODE | X | - | X | - | +——————+——-+———+——+———-+ | COMPASS_MODE | X | X | - | X | +——————+——-+———+——+———-+ | M4G_MODE | X | X | - | - | +——————+——-+———+——+———-+ | NDOF_FMC_OFF_MODE| X | X | X | X | +——————+——-+———+——+———-+ | NDOF_MODE | X | X | X | X | +——————+——-+———+——+———-+

The default mode is NDOF_MODE.

offsets_accelerometer

Calibration offsets for the accelerometer

offsets_gyroscope

Calibration offsets for the gyroscope

offsets_magnetometer

Calibration offsets for the magnetometer

quaternion

Gives the calculated orientation as a quaternion. Returns an empty tuple of length 3 when this property has been disabled by the current mode.

radius_accelerometer

Radius for accelerometer (cm?)

radius_magnetometer

Radius for magnetometer (cm?)

temperature

Measures the temperature of the chip in degrees Celsius.

use_external_crystal

Switches the use of external crystal on or off.