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Add calibration offsets and radii as properties on BNO055 library #30

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sjirwin commented May 12, 2019

issue #21

builds on work by @katlings and replaces her PR
implements the approach suggested by @deshipu and addresses feedback from @caternuson

note - assignment is fighting against BNO055 auto-calibration so can have odd behavior

Adafruit CircuitPython 4.0.0-rc.1 on 2019-04-23; Adafruit Feather M4 Express with samd51j19
>>> import board, busio
>>> import adafruit_bno055 as bno055
>>> i2c = busio.I2C(board.SCL, board.SDA)
>>> bno = bno055.BNO055(i2c)
>>> bno.radius_magnetometer
0
>>> bno.radius_magnetometer = 40
>>> bno.radius_magnetometer = 40
>>> bno.radius_magnetometer
1
>>> bno.radius_magnetometer
0
>>> bno.offsets_accelerometer = 1, -1, 1
>>> bno.offsets_accelerometer
(1, -1, 1)
katlings and others added 3 commits Feb 26, 2019
…pose calibration and radii as r/w properties on BNO055
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deshipu commented on a85d9c1 May 6, 2019

That's exactly what I meant! Great!

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tannewt left a comment

Looking pretty good. Looks like the type checks need to be swapped to isinstance() for lint.

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caternuson commented May 15, 2019

note - assignment is fighting against BNO055 auto-calibration so can have odd behavior

I think that has to do with running in one of the "sensor fusion" modes, like NDOF.

bno055_1
bno055_2

The previous driver didn't do any checking for current mode. Not sure if that's worth adding here?

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dherrada commented Oct 17, 2019

@caternuson this seems like something useful, as long as the auto-calibration doesn't mess with it. Is this something we should see about merging or close?

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caternuson commented Oct 17, 2019

Maybe have it as a follow on PR, with a new issue for tracking, just so we can get this PR closed off.

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