Hi all,
I'm working with the BHI160B IMU using the Arduino library on an ESP32-S3. I need help with axis remapping, as the orientation data doesn't match my physical setup.
I'm attaching an image showing the exact mounting position of my IMU.
Could someone guide me on the correct remap matrix or configuration needed for this position?
Thanks in advance!
Change something, but keep track of all the changes, maybe in a spreadsheet or matrix on paper. It's not an infinite set.
Could you please mention which parameter I have to change by verifying the orientation example
For what purpose is the remapping needed? The axis labels are arbitrary.
See page 75 in the data sheet.
In that they have mentioned the x,y and z-axis. But I want to know how to change using Arduino library with ESP32(Which functions are used to change axis remapping).
Which library?
I have used the arduino library and used the orientation example and want to change Axis remapping.
The picture in your post, how should I interpret it?
Are the arrows the current orientation?
How do you want the orientation to be?
The X axis need to be ... (e.g. to the right side???)
The Y axis need to be ... (e.g. in opposite direction???)
The Z axis will is defined by the other 2.
Thank you for the Reply
I have drawn based on Required orientation.
The X axis need to be --> Down to Earth as mentioned in picture
The Y axis need to be --> Down to back side as mentioned in picture
The Z axis will -->Down to left side as mentioned in picture
I need as per the picture.
OK
And how is the sensor oriented now?
The sensor offers the opportunity to select from a number of different axis remappings, as described in the data sheet and the companion document linked in the data sheet. Look through the possibilities and pick the appropriate one, otherwise read and carefully follow the instructions in the companion document.
Hi, yes I have gone through the Datasheet for Different axis remapping but here I need, where the functions are accepted by the arduino library to change the orientation.
Below functions are used in COINES sdk but these are not accepted by arduino library:-
bhy_mapping_matrix_set(i2c_inst,
PHYSICAL_SENSOR_INDEX_ACC,bhy_mapping_matrix_config);
bhy_mapping_matrix_set(i2c_inst, PHYSICAL_SENSOR_INDEX_MAG,mag_mapping_matrix_config);
bhy_mapping_matrix_set(i2c_inst, PHYSICAL_SENSOR_INDEX_GYRO,bhy_mapping_matrix_config);
Check the library code to see what functions are offered.
It is still not clear to me what you mean by “Arduino library”.
Here is the orientation code I have used and I didn't find any functions for orientation change and Here i have used Arduino IDE with Esp32.
Please post a link to the exact "Arduino library" you are using.
What you linked is proprietary (not open source) code from Bosch. If that is what you are using, you need to find a description of what it does. Personally, I wouldn't bother with it. A lot of the code from Bosch (which they outsource) is close to worthless.
Sorry I have used Arduino IDE, but I didn't find any functions to change according to my orientation in the example I have used, could you please help me with that?
I have gone through the readme file for that example, but didn,t find anything regarding orientation.
Sorry, I have no interest in closed source, poorly functioning Bosch code. Why not use the Coines SDK mentioned above?