BNO055 Module Modes

[SeaTechRC]

Hello,

As of now, it is not possible to select a mode for the BNO055.
It is currently hardcoded in the NDOF mode (using gyrometer, accelerometer and magnetometer) giving an absolute orientation.
For certain applications, only the relative orientation (BNO055 in IMU mode) is enough.

The advantage of using a different mode, for example IMU mode, is that it doesnt require movement of the sensor for intialization as the NDOF mode does.

lizard/main/modules/imu.cpp

Line 30 in 4a45032

this->bno->setOprModeNdof();

[Johannes-Thiel]

At the moment, we only use the absolute position in our applications. We want to implement this new feature, but it has relatively low priority for us.