Support Bosch BNO055 IMU sensor

[jlazkano]

Hello,

Is it possible to support the Bosch BNO055 IMU sensor?

Here is more info:

https://www.mouser.es/ProductDetail/Bosc...ucWw%3D%3D

https://www.adafruit.com/product/2472

Kind regards.

[seandepagnier]

Isn't it already supported? I have not done trials. I am not confident with this sensor, and it cost many times more than alternatives which work well.

[jlazkano]

Hello,

There is no documentation about it, I want to be sure that it is supported before to buy it.

I have a MPU-9255 sensor, but it does not work well in some angles:







There is a big difference with COG (GPS) and Heating (IMU sensor) in some angles.

Regards.

[seandepagnier]

there will be a large difference if

1) there are currents
2) the gyro sensors are defective
3) the accelerometers have significant bias and are not calibrated

What does the calibration plot show for both accelerometers and compass?e

[jlazkano]

Hello,

Thanks for the reply.

I connect to the OpenPlotter again, the calibration was moved, so I recalibrated again.

This is what I have in the accel and compass view:




Here is more images of Pypilot configuration:

https://ibb.co/kcdMzsN
https://ibb.co/zVg7v9W
https://ibb.co/fGrRK8Z
https://ibb.co/tDskgBd
https://ibb.co/jDKyWjR
https://ibb.co/b5gTWD3

Need I lock the calibration check in the configuration?

Thanks for your help.

Best regards.

[seandepagnier]

The accels are not calibrated.

Unfortunately this is also still a very old version of pypilot that is built in openplotter.

See:
https://pypilot.org/wiki/doku.php?id=calibration

Also if you can scope the gyros. I found a bunch of mpu9255 which have bad gyros. This could be sometimes one axis does not work, or other times they just output less change than they should. This will seriously mess up the compass reading.

I think most likely you just need to run the pypilot_scope and check the gyros work on all 3 axis, ensure the accelerometer is calibrated, then fix the sensors back to the boat, and calibrate.

Locking the calibration is only useful if the results are good and you don't want them to get messed up from sailing around iron or docking near a steel boat or something like that.