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Fix the Q point used for heading accuracy estimate. #40

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Apr 29, 2020
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Fix the Q point used for heading accuracy estimate. #40

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2 changes: 1 addition & 1 deletion src/SparkFun_BNO080_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -372,7 +372,7 @@ float BNO080::getQuatReal()
//Return the rotation vector accuracy
float BNO080::getQuatRadianAccuracy()
{
float quat = qToFloat(rawQuatRadianAccuracy, rotationVector_Q1);
float quat = qToFloat(rawQuatRadianAccuracy, rotationVectorAccuracy_Q1);
return (quat);
}

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1 change: 1 addition & 0 deletions src/SparkFun_BNO080_Arduino_Library.h
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Expand Up @@ -271,6 +271,7 @@ class BNO080
//These Q values are defined in the datasheet but can also be obtained by querying the meta data records
//See the read metadata example for more info
int16_t rotationVector_Q1 = 14;
int16_t rotationVectorAccuracy_Q1 = 12; //Heading accuracy estimate in radians. The Q point is 12.
int16_t accelerometer_Q1 = 8;
int16_t linear_accelerometer_Q1 = 8;
int16_t gyro_Q1 = 9;
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