Accelerometer and Gyroscope Readings Units in Arduino Nicla Sense Me and Rotational Movement

Projects General Guidance
1

Hi, I use Arduino Nicla Sense Me to read its built-in accelerometer and gyroscope.
When I use the code below, these are the readings I get (in rest):

Capture

In what units do I get the readings?
And what is the best way to use these readings to indicate rotational movement?

#include "Arduino.h"
#include "Arduino_BHY2.h"

SensorXYZ accel(SENSOR_ID_ACC);
SensorXYZ gyro(SENSOR_ID_GYRO);

void setup() {
  Serial.begin(115200);
  while(!Serial);

  BHY2.begin();

  accel.begin();
  gyro.begin();

}

void loop() {
  static auto printTime = millis();

  // Update function should be continuously polled
  BHY2.update();

  if (millis() - printTime >= 1000) {
    printTime = millis();
    Serial.println(String("acceleration: ") + accel.toString());
    Serial.println(String("gyroscope: ") + gyro.toString());
    
  }
}
2

What does the datasheet or application notes say?

3

It says g-s and deg/sec but it seems to me its not what I'm getting. What do you think?
I'm not an electrical/ software engineer, the data sheet is hard for me to understand.
The sensor is BHI260AP and its datasheet is here https://docs.arduino.cc/hardware/nicla-sense-me#tutorials

4

Could You read some deeper? Is it g times 100? Etc?
Short of time here.

5

The units will be whatever the library returns, so check the library documentation.

When held still, the accelerometer will measure 1 g along any vertical axis, so if you see a large number along that axis, that would be the raw value that corresponds to 1 g.

The data in your post suggest to me that the units are raw, and that the accelerometer does not have one axis aligned with the vertical. In that case, check the data sheet for the meaning of the raw units.

Keep in mind that the gyro measures rotation rate, not angles.

6

Looking into the documentation (lots...) their examples show, like @jremington says, raw data. You likely need to find the translation constants.

7

Thank you jremington and Railroader, I will check what you both suggested.

8

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