Data Sheet

BNO055
Data sheet
Page 30
BST-BNO055-DS000-14 | Revision 1.4 | June 2016 Bosch Sensortec
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Note: Specifications within this document are subject to change without notice.
3.6 Output data
Depending on the selected operating mode the device will output either un-calibrated sensor
data (in non-fusion mode) or calibrated / fused data (in fusion mode), this section describes
the output data for each modes.
3.6.1 Unit selection
The measurement units for the various data outputs (regardless of operation mode) can be
configured by writing to the UNIT_SEL register as described in Table 3-9.
Table 3-11: unit selection
Data
Units
[Reg Addr]: Register Value
Acceleration, Linear
Acceleration, Gravity
vector
m/s
2
[UNIT_SEL] : xxxxxxx0b
mg
[UNIT_SEL] : xxxxxxx1b
Magnetic Field Strength
Micro Tesla
NA
Angular Rate
Dps
[UNIT_SEL] : xxxxxx0xb
Rps
[UNIT_SEL] : xxxxxx1xb
Euler Angles
Degrees
[UNIT_SEL] : xxxxx0xxb
Radians
[UNIT_SEL] : xxxxx1xxb
Quaternion
Quaternion
units
NA
Temperature
°C
[UNIT_SEL] : xxx0xxxxb
°F
[UNIT_SEL] : xxx1xxxxb
3.6.2 Data output format
The data output format can be selected by writing to the UNIT_SEL register, this allows user
to switch between the orientation definition described by Windows and Android operating
systems.
Table 3-12: Fusion data output format
Parameter
Values
[Reg Addr]: Register value
Fusion data output
format
Windows
[UNIT_SEL]: 0xxxxxxxb
Android
[UNIT_SEL]: 1xxxxxxxb
The output data format is based on the following convention regarding the rotation angles for
roll, pitch and heading / yaw (compare also section 3.4):
Table 3-13: Rotation angle conventions
Rotation angle
Range (Android format)
Range (Windows format)
Pitch
+180° to -180° (turning
clockwise decreases values)
-180° to +180° (turning clock-
wise increases values)
Roll
-90° to +90° (increasing with increasing inclination)
Heading / Yaw
0° to 360° (turning clockwise increases values)