Data Sheet

BNO055
Data sheet
Page 35
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.
3.6.5.4 Orientation (Euler angles)
Orientation output only available in fusion operation modes.
The fusion algorithm output offset and tilt compensated orientation data in Euler angles
format for each DOF Heading/Roll/Pitch, the output data can be read from the appropriate
EUL<dof>_LSB and EUL_<dof>_MSB registers. Refer table below for information regarding
the data types and the unit representation for the Euler angle format.
Table 3-28: Compensated orientation data in Euler angles format
Parameter
Data type
bytes
EUL_Heading
Signed
2
EUL_Roll
Signed
2
EUL_Pitch
Signed
2
Table 3-29: Euler angle data representation
Unit
Representation
Degrees
1 degree = 16 LSB
Radians
1 radian = 900 LSB
3.6.5.5 Orientation (Quaternion)
Orientation output only available in fusion operating modes.
The fusion algorithm output offset and tilt compensated orientation data in quaternion format
for each DOF w/x/y/z, the output data can be read from the appropriate
QUA_DATA_<dof>_LSB and QUA_DATA_<dof>_MSB registers. Refer table below for
information regarding the data types and the unit representation for the Orientation output.
Table 3-30: Compensated orientation data in quaternion format
Parameter
Data type
bytes
QUA_Data_w
Signed
2
QUA_Data_x
Signed
2
QUA_Data_y
Signed
2
QUA_Data_z
Signed
2
Table 3-31: Quaternion data representation
Unit
Representation
Quaternion (unit less)
1 Quaternion (unit less) = 2^14 LSB