Bno055testedcpp#84
Closed
Zarqu0n wants to merge 28 commits into
Closed
Conversation
Add IMU anomaly detection parameters and functionality
set initial prev_imu_ok state to False
Handle IMU data reception errors and publish status
Implement serial connection reset functionality and timeout handling
… adjust serial reset timeout parameter
Fix/reset_conn
Fix/set_imu_false_when_failed
Co-authored-by: Zarqu0n <72468520+Zarqu0n@users.noreply.github.com>
Co-authored-by: Zarqu0n <72468520+Zarqu0n@users.noreply.github.com>
Co-authored-by: Zarqu0n <72468520+Zarqu0n@users.noreply.github.com>
Co-authored-by: Zarqu0n <72468520+Zarqu0n@users.noreply.github.com>
Co-authored-by: Zarqu0n <72468520+Zarqu0n@users.noreply.github.com>
…ays, Euler angles, calibration check Compared Boardoza BNO055 reference driver with saha-robotics implementation. Key improvements for sensor data quality: 1. Implement actual calibration offset writing to sensor registers (was declared but never written) 2. Write accelerometer/magnetometer radius calibration values 3. Add sensor reset before configuration for clean state 4. Add self-test verification during configuration with detailed per-sensor results 5. Add proper mode transition delays (30ms per BNO055 datasheet) 6. Add Euler angles publication (data already in buffer, now published on euler topic) 7. Add operation-mode-aware isFullyCalibrated check in calibration status 8. Add proper timing delays during initialization sequence Co-authored-by: ROSSARP <117314787+ROSSARP@users.noreply.github.com>
- Add SELFTEST_ALL_PASSED and CALIBRATION_FULLY_CALIBRATED constants to registers.hpp - Use named constants instead of magic numbers for self-test (0x0F) and calibration (3) - Add return value checking and warning logging in write_offset method Co-authored-by: ROSSARP <117314787+ROSSARP@users.noreply.github.com>
- Fix bno055.launch.py: replace broken Python Node reference with C++ LifecycleNode (executable='bno055_lifecycle_node') with auto configure/activate lifecycle management - Add bno055_i2c.launch.py: launch file for I2C connection using bno055_params_i2c.yaml - Update README.md: document all launch options (UART, I2C, lifecycle) - Update CPP_README.md: add I2C and UART launch commands Co-authored-by: ROSSARP <117314787+ROSSARP@users.noreply.github.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
No description provided.