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
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class
adafruit_bno055.
BNO055
[source]¶ Base class for the BNO055 9DOF IMU sensor.
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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.
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calibrated
¶ Boolean indicating calibration status.
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calibration_status
¶ Tuple containing sys, gyro, accel, and mag calibration data.
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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.
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external_crystal
¶ Switches the use of external crystal on or off.
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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.
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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.
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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.
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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.
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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
.
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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.
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temperature
¶ Measures the temperature of the chip in degrees Celsius.
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use_external_crystal
¶ Switches the use of external crystal on or off.
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class
adafruit_bno055.
BNO055_I2C
(i2c, address=40)[source]¶ Driver for the BNO055 9DOF IMU sensor via I2C.
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offsets_accelerometer
¶ Calibration offsets for the accelerometer
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offsets_gyroscope
¶ Calibration offsets for the gyroscope
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offsets_magnetometer
¶ Calibration offsets for the magnetometer
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radius_accelerometer
¶ Radius for accelerometer (cm?)
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radius_magnetometer
¶ Radius for magnetometer (cm?)
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class
adafruit_bno055.
BNO055_UART
(uart)[source]¶ Driver for the BNO055 9DOF IMU sensor via UART.
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offsets_accelerometer
¶ Calibration offsets for the accelerometer
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offsets_gyroscope
¶ Calibration offsets for the gyroscope
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offsets_magnetometer
¶ Calibration offsets for the magnetometer
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radius_accelerometer
¶ Radius for accelerometer (cm?)
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radius_magnetometer
¶ Radius for magnetometer (cm?)
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