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adafruit / Adafruit_CircuitPython_BNO055

CircuitPython driver for BNO055 absolute orientation sensor
MIT License
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WebGL Example - Incorrect rotation on screen #91

Open alapsansky opened 2 years ago

alapsansky commented 2 years ago

The motion of the 3D model in the WebGL example does not reflect the motion of the BNO055 sensor. Specifically, with the sensor on a flat surface with the VIN to RST pin holes facing away, a change in pitch of the sensor (which accurately changes the values next to "Pitch =") causes the model to roll. A change in roll causes the model to yaw. And a change in yaw causes the model to pitch.

The system shows a complete calibration. Because the Euler output seems correct, I am guessing that there is some issue with the order of the quaternions in the code, but I have not been successful with identifying the exact issue.

I have tested this with two sensors, using both a direct soldered connection and a QWIIC connector.

Any guidance would be greatly appreciated!

alapsansky commented 2 years ago

I just wanted to check in to see if anyone has experienced this same issue recently. Thank you!

hazemy commented 11 months ago

Hello, I can confirm that the same issue still exists. The yaw angle motion of the sensor is reflected on the screen as pitch and vice versa. I think this is related to the BNO_AXIS_REMAP (sec. 3.4 of the datasheet). This was already part of the WebGL example of the older library (https://github.com/adafruit/Adafruit_Python_BNO055/blob/master/examples/webgl_demo/server.py#L61). Axis remaps are already added to the CircuitPython library as per #78. I could only get this fixed by using the same axis remaps used in the older library example, combined with inverting the quaternion order (W,X,Y,Z). This is a hacky fix and further digging into the mentioned section of the datasheet is necessary.