Bosch Sensortec Tutorials: How to calibrate the absolute orientation sensor BNO055
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- เผยแพร่เมื่อ 13 ธ.ค. 2024
- Welcome to the first tutorial from Bosch Sensortec.
We are going to show you how to calibrate our absolute orientation sensor BNO055.
For more information about the sensor, please visit our website www.bosch-sensortec.com
Our Development Desktop software can be downloaded here: www.bosch-sens...
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For anyone here for the Adafruit board (I'm using the BNO055 IMU, ID:2472), even though Bosch has replied saying their software is not compatible, these physical techniques will still calibrate the board.
Adafruit's "rawdata" sketch will read the calibration level out to serial (just like Bosch's software), from 0-3 with zero being uncalibrated and 3 being fully calibrated. The motions are: completely still for gyro, a figure 8 in the air for magnetometer, and turning in 45degree increments for the accelerometer.
The acceleromoter is "Y" in rawdata, so you can read it as you go and try to hit the individual points (0,45,90, etc). It doesn't matter if you go clockwise or counterclockwise, but make sure you're on the correct axis, which is (if you're reading the text, and the I2C pins are on your left), moving the top of the board toward or away from you.
After a few attempts I can now do all three in about 20seconds. Enjoy!
Hi, thanks for you useful post. I can get readings out of "Sys:3 G:3 A:3 M:3" which seem to indicate that all components are fully calibrated. However if I start to move the unit, I get "! Sys:0 G:3 A:3 M:3" which supposedly indicates unreliable data. Is this the normal mode of operation?
Top tip: Don't just go with what you think 45 degrees looks like. Go with the actual values shown on screen.
How do we know which fusion mode our BNO055 is in via the Adafruit board and Arduino IDE?
@@julianchee2894 when you are using the arduino, you need to include the BNO055 library, then you go Files -> Examples -> Adafruit BNO055 -> then choose the one u want. (U can also skip all this and put on the code which library you want to use)
@TitaniumInside thanks for your comment 2 years later, it has helped me a lot
Is this step still valid for sensor Y2024?? I got only 1 (from3) on acc and mag calibration. I tried for whole day but not work on my sensor.
Is it possible to calibrate the magnetometer with the board mounted in an automotive application? I obviously can't go waving the car in a figure 8.
It will be amazing to understand this .
Any update about this?
@@Gabriel965519437 Nope. I gave up on using this chip in the car.
How often do you need to calibrate the BNO055?
Everytime you restart it, thats why you can read the calib data and save it for the next use.
I had a couple of questions :
My system has BMX160 sensor
- Is it possible to port the fast calibration into the microcontroller itself ?
- Is the software paid/free ?
- Does this software supports BMX160 ?
- We do not have the development board of the BMX160 rather we have the bmx160 connected to our own MCU then how do I make the IMU talk to this software?
Hi i've an BNO 055 no usb stick , hot to calibrate this ?
Regards,
Fred
Hi Fred, thank you very much for your interest in our product. You can use either
the BNO055 USB stick or the Bosch Sensortec application board together
with the BNO055 shuttleboard. They are available at our distribution
partners: www.bosch-sensortec.com/bst/contact/distributors_sales_representatives/overview_distributorssalesrepresentatives
Can you provide a link for a guide that does not use Adafruit or Bosch driver library? Some from scratch methods for powering this sensor?
In NDOF mode it will periodically show the magnetometer status as 0. It will calibrate normally and track north for a few minutes, then I leave it sitting on the table without moving and it will drop back to status zero. Then if I move it again it will recalibrate. Does it need constant motion to stay calibrated? In other words the calibration status seems to change without any obvious causes?
I have swapped my axes because the device is mounted 90 degrees. I have checked that this is correct and z is still 'up' in my application and pitch is still pitch because it gives be +/- 90 and roll is still roll because it gives me +/- 180. After swapping the axes I wonder if its possible to produce a combination that the fusion doesn't like. I can get calibration to show 3 on Mag, Gyro and Accelerometer but SYS briefly becomes 3 and then it decides its not liking it after some further movement and in particular heading shifts in multiples of 90 degrees. The reason I ask this is because I've written fusion algorithms before and its easy to get a gyro in the wrong direction and that really buggers it up - but in this case its all hidden and all we have is the axis config / sign and some numbers between 0 and 3 that nobody really knows what its telling us.
Can we do these actions over USB serial with some commands? I am not a windows user and we should be able to control this from Linux USB serial but I don't see any documentation on that.
We should be able to restore calibration (3.11.4 Reuse of Calibration) from usb serial on device reboot.
Unfortunately we cannot provide information on the interface and on the required steps. You can use the BNO055 also under Linux for example through the Arduino 9-axis motion shield: store.arduino.cc/arduino-9-axis-motion-shield. There is also a source code available in the Arduino IDE on how to communicate with the sensor.
Hi, I wanna use BME680 Bosch 4in 1 sensor, I don't know how to calibrate it? Thanks
I've calibrated the sensor in nDOF and FMC on, however not easily as you perform in this show! After full calibration, the heading is completely wrong and sometimes unstable and after moving and rotating, it goes to uncalibrated!!! What did I miss? I posted a question in Adafruit forum (forums.adafruit.com/viewtopic.php?f=19&t=138419). Any advice apprecited...
How to calibrate the device if I don't have the BNO055 USB stick? How to send the data to the Bosch development software (visualization tool)?
Dear Muhammad, thank you very much for your interest in our product. You can use either the BNO055 USB stick or the Bosch Sensortec application board together with the BNO055 shuttleboard. They are available at our distribution partners: www.bosch-sensortec.com/bst/contact/distributors_sales_representatives/overview_distributorssalesrepresentatives
Hello! Could you help me please:
I select NDOF or FMCoff NDOF mode, I set the reset properly, and make the calibration. I read then calibration register, reading calibration ok. The HEAD is poiting to 30 degrees, and after some movements, it gives me 50 degress with calibatration register ok. Turn off, restart, check calibration and I get 50 degrees. Some movements... and I get another value. So where is de head pointing me? How can I get the right HEAD readings.
Dear Claudio, we would like to understand your problem correct and get to know more details about your expectations. Could you please send us a detailed request via contact form www.bosch-sensortec.com/bst/contact/contact_form/contact_form. Thank you very much
Im a old school electronics tech, back in the day fluxgate magometer, pitch, roll & yaw sensors, airspeed, air temp, altitude, looking at least $20k not including flight director horizontal situation detector, add another $30k, today use bosch sensor board, raspberry pi and touch lcd screen, can roll your own for $100 amazing progress
Hi, if u don’t mind, i just wanna ask, is the bno055 sensor from adafruit the same as the sensor from bosch? If i use bno055 from adafruit and raspberry pi, should i put a specific source code for callibration? :)
@@rizkaalifyarahman857 Stratux project based with raspberrt pi with GPS, ADS-B & AHRS mate it with a tablet and electronic flight bag got a glass cockpit and navigation
@@phoneticau I don't actually do any projects related to aviation, drones, and the like. However, I use the BNO055 sensor for monitoring the movement of ocean waves. But, thank you for replying :)
When you tilt the sensor to at least 60 degrees, does it still indicate magnetic north in the same place?
It should do. However, the datasheet suggests limited tilt angles.
What are the full output of this sensor and how much is the frequency?
Does this sensor directly gives linear acceleration, gravity acceleration and angular velocity? Actually I need one but I can not programmed myself so I just to confirmed that Bosh sensortec sell already programmed BNO055 or user need to programm?
thanks in advance
Hello HassanKhanEngineer,
Thank you for your interest in our sensors. We would be delighted to welcome you to our Bosch Sensortec Community. The platform is designed to discuss questions like yours. Registration and participation is free of charge. Our experts look forward to exchanging ideas with you. bit.ly/3KmLeQT
All the best and best wishes,
Your Bosch Sensortec team
My Offset and Radius configuration values never seem to be set to anything other than '0' when calibrating my BNO055 in NDoF or NDoF_FMC_Off modes. Even if I get all four calibration statuses to full bars, then set the Operation Mode to 'Config Mode,' the register values for all the offsets and radii remain at zero. Could you tell me why this would be? Thank you.
Hi, I have the same issue on my project! Did you solve yours? Could you tell me how? Thanks.
The offset and radius value get updated whenever there is a change in calibration status and will not be zero when calibration reaches to full bars.
Also, the default value of the offset is zero and Mag radius is non-zero (480lsb).
If you have further questions please contact us via our contact form: www.bosch-sensortec.com/bst/contact/contact_form/contact_form
O'K, so this is a pain... Specially if the sensor is built into the heavy device you can't really pick from the floor. Is this possible to buy pre-calibrated chips (with the calibration data copied from the reference one), maybe directly from BOSCH? Of course I mean - in the production quantities of 1k+.
Hi Marek,
Thank you for reaching out. We would be happy to discuss your request in our Bosch Sensortec community. The registration and use is free of charge and our experts look forward to exchanging ideas with you. bit.ly/2EyytQz
Your Bosch Sensortec team
I just acquired one of these units. Is the calibration procedure to be repeated for every use?
Ok, I just read some answers that point to the data sheet and to calibration in memory
Did your offset and radius values change when entering Config Mode after calibrating the sensor in NDoF mode? Mine stay at zero even when the calibration status states full bars and I can not figure out why.
Not necessarily. The calibrated parameters can be read after the calibration process and loaded after the next boot. Note that the calibrated parameters could be overwritten during operation as the calibration algorithm is continuously running.
I have an Adafruit BNO055 Breakout board. Can you please tell me how to send the data from Adafruit BNO055 to Bosch Development desk software...?
Dear Kranthi, thank you very much for interest in our BNO055. Unfortunaly the Adafruit board is not compatible with our Development Desktop Software. You can use the Bosch Sensortec application board together with the BNO055 shuttleboard. They are available at our distribution partners: www.bosch-sensortec.com/bst/contact/distributors_sales_representatives/overview_distributorssalesrepresentatives
@Kranthi Kumar I assume you've solved or moved on from this by now, but I've got an Adafruit board and I left instructions in a new comment (which you can upvote if you'd like to help others see).
In the data sheet for BNO055, it states that I have to do calibration every time I start the system. Do I have to do that? Is there any way that I don't have to do it every time I start the system? I am using 9 axes arduino shield with BNO055 on it.
Dear Kite S,
you are right. Normally you have to calibrate BSX in the BNO055 after every power on or reset. In order to not do so, you can store and restore the calibration profile values into the memory. Please, have a look at chapter 3.11.4 Reuse of Calibration in the BNO055 datasheet. You can find the datasheet here: ae-bst.resource.bosch.com/media/_tech/media/datasheets/BST_BNO055_DS000_14.pdf
@@BoschSensortec I looked at the datasheet but it is not so specific about "storing profile in memory". For what I understand, you have to skip the "CONFIG_MODE" and go directly to "fusion mode" somehow but it is not so clear in how to do so.
The Adafruit BNO055 library example program "restore_offsets.ino" shows an example of how to save and restore the calibration settings.
Excellent! Please don't double the price next year!
I am a developer interested to add Bosch IMU sensor in my sensor board. Is there any source code for me to implement the sensor fusion algorithm in firmware?
Hi Dajiang He, please register on our Bosch Sensortec Community and post your question there. Community members and moderators will be there to help and advise you.
Bosch Sensortec Community: community.bosch-sensortec.com/t5/Bosch-Sensortec-Community/ct-p/bst_community
What is the Bosch Sensortec Community?: th-cam.com/video/IVsz8JelDac/w-d-xo.html
What about moving ? How to find the offset in space?
Hi, thank you for your comment. I would kindly suggest you to register on our Bosch Sensortec Community. Members and moderators will be there to help and advise you.
Bosch Sensortec Community: community.bosch-sensortec.com/t5/Bosch-Sensortec-Community/ct-p/bst_community
What is the Bosch Sensortec Community?: th-cam.com/video/IVsz8JelDac/w-d-xo.html