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sparkfun / SparkFun_BNO080_Arduino_Library

An Arduino Library for the BNO080 IMU combination triple axis accelerometer/gyro/magnetometer packaged with an ARM Cortex M0+ running powerful algorithms.
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Fix the Q point used for heading accuracy estimate. #40

Closed tstellanova closed 4 years ago

tstellanova commented 4 years ago

Per the SH2 manual, Section 6.5.18 Rotation Vector (0x05) "In addition an estimate of the heading accuracy is reported. The units for the accuracy estimate are radians. The Q point is 12."

This code change gives a heading error estimate of about π (Pi) radians for an uncalibrated BNO080.

PaulZC commented 4 years ago

Thank you @tstellanova - well spotted!