seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 3 Actions Packages Projects Releases Wiki Activity

feat(firmware): BNO055 IMU driver — alternative sensor fusion with 9-DOF absolute orientation #135

New Issue
Closed
opened 2026-03-02 09:27:22 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 09:27:22 -05:00
Collaborator
Copy Link

Summary

Driver for BNO055 spare IMU as alternative/backup to MPU6000.

Requirements

  • I2C driver: BNO055 on I2C1, auto-detect alongside MPU6000
  • Fusion mode: Use BNO055 internal sensor fusion (NDOF mode) for absolute orientation
  • Quaternion output: Read quaternion + linear acceleration + gravity vector
  • Calibration: Auto-calibration status monitoring, save/restore calibration offsets
  • Fallback: If MPU6000 fails, seamlessly switch to BNO055
  • ROS2 telemetry: Same IMU topic format (/saltybot/imu) regardless of which sensor
  • Temperature compensation: Read die temperature, apply drift correction

Agent: sl-firmware

Labels: phase-2, sensors

## Summary Driver for BNO055 spare IMU as alternative/backup to MPU6000. ## Requirements - **I2C driver**: BNO055 on I2C1, auto-detect alongside MPU6000 - **Fusion mode**: Use BNO055 internal sensor fusion (NDOF mode) for absolute orientation - **Quaternion output**: Read quaternion + linear acceleration + gravity vector - **Calibration**: Auto-calibration status monitoring, save/restore calibration offsets - **Fallback**: If MPU6000 fails, seamlessly switch to BNO055 - **ROS2 telemetry**: Same IMU topic format (/saltybot/imu) regardless of which sensor - **Temperature compensation**: Read die temperature, apply drift correction ## Agent: sl-firmware ## Labels: phase-2, sensors
Sign in to join this conversation.
No Branch/Tag Specified
Branches Tags
Labels
No items
No Label
Milestone
No items
No Milestone
Projects
Clear projects
No project
Assignees
Clear assignees
shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
No Assignees
1 Participants
Notifications
Due Date
No due date set.
Dependencies

No dependencies set.

Reference: seb/saltylab-firmware#135
No description provided.
Delete Branch "%!s()"

Deleting a branch is permanent. Although the deleted branch may continue to exist for a short time before it actually gets removed, it CANNOT be undone in most cases. Continue?