Example Code for Arduino – BNO055 Attitude Measurement (Pitch/Roll/Yaw)

Hardware Preparation

• 1×UNO microcontroller Board
• 1×BNO055 BMP280 intelligent 10DOF AHRS(V1.0) Module
• DuPont lines

Software Preparation

• Arduino IDE, click to download Arduino IDE
• BNO055 Library
• BMP280 Library
  How to install library files? Click the link.

Wiring Diagram

Sample Code

The function of the program: read the pitch angle, roll angle and yaw angle of BNO055 sensor via I2C interface, and print out the data through the serial port. Using this demo with a small visual software Euler angle visual tool.exe we specifically designed, you can directly observe the attitude variation of 10DOF. As shown below.

/*!
  * imu_show.ino
  *
  * Download this demo to show attitude on [imu_show](https://github.com/DFRobot/DFRobot_IMU_Show)
  * Attitude will show on imu_show
  *
  * Product: https://www.dfrobot.com.cn/goods-1860.html
  * Copyright   [DFRobot](https://www.dfrobot.com), 2016
  * Copyright   GNU Lesser General Public License
  *
  * version  V1.0
  * date  07/03/2019
  */

#include "DFRobot_BNO055.h"
#include "Wire.h"

typedef DFRobot_BNO055_IIC    BNO;    // ******** use abbreviations instead of full names ********

BNO   bno(&Wire, 0x28);    // input TwoWire interface and IIC address

// show last sensor operate status
void printLastOperateStatus(BNO::eStatus_t eStatus)
{
  switch(eStatus) {
  case BNO::eStatusOK:    Serial.println("everything ok"); break;
  case BNO::eStatusErr:   Serial.println("unknow error"); break;
  case BNO::eStatusErrDeviceNotDetect:    Serial.println("device not detected"); break;
  case BNO::eStatusErrDeviceReadyTimeOut: Serial.println("device ready time out"); break;
  case BNO::eStatusErrDeviceStatus:       Serial.println("device internal status error"); break;
  default: Serial.println("unknow status"); break;
  }
}

void setup()
{
  Serial.begin(115200);
  bno.reset();
  while(bno.begin() != BNO::eStatusOK) {
    Serial.println("bno begin faild");
    printLastOperateStatus(bno.lastOperateStatus);
    delay(2000);
  }
  Serial.println("bno begin success");
}

void loop()
{
  BNO::sEulAnalog_t   sEul;
  sEul = bno.getEul();
  Serial.print("pitch:");
  Serial.print(sEul.pitch, 3);
  Serial.print(" ");
  Serial.print("roll:");
  Serial.print(sEul.roll, 3);
  Serial.print(" ");
  Serial.print("yaw:");
  Serial.print(sEul.head, 3);
  Serial.println(" ");
  delay(80);
}

Result

If we compare 10DOF to an airplane whose nose points at due east, the positive direction of X axis will be the direction of the nose, the positive direction of Y axis will be the direction of the left wing, which is due north. Z axis is perpendicular to the plane XOY that formed by X and Y axes. When the 10 DOF’s direction of X, Y, and Z totally coincides with the above-mentioned direction, the values of the pitch, roll and yaw angle are 0°. Here we define: pitch is the angle between the nose and XOY when the airplane noses up or down along the Y axis, and nose up is positive while nose down is negative; roll is the angle between the body and XOY when the airplane rolls along the X axis; yaw is the angle between the nose and XOZ when the airplane moves along the Z axis.

Please note that you need to close the serial port occupied by the printer when using the test software to observe the sensor’s movement posture.