readCalibrationStatus

Read calibration status of BNO055 sensor

Add-On Required: This feature requires the MATLAB Support Package for Arduino Hardware add-on.

Syntax

[status,timestamp] = readCalibrationStatus(bno055)

Description

[status,timestamp] = readCalibrationStatus(bno055) returns the calibration status of the BNO055 sensor in NDOF operating mode. See Calibrate BNO055 Sensors for the steps to calibrate the sensor.

Examples

Read Calibrated Status of Sensor

Create an arduino object

a = arduino('COM4', 'Uno', 'Libraries', 'I2C');

Create the BNO055 sensor object.

imu = bno055(a,'OperatingMode','ndof');

Calibrate the sensor using steps mentioned in Calibrate BNO055 Sensors.

pause(50)

Read calibration status of sensor.

[status,timestamp] = readCalibrationStatus(imu)

status = 
       struct with fields:

           System: "uncalibrated"
    Accelerometer: "uncalibrated"
        Gyroscope: "full"
     Magnetometer: "uncalibrated"

timestamp = datetime 
   21-Jul-2020 08:09:45.785

Input Arguments

bno055 — BNO055 sensor object

BNO055 sensor object created in ndof operating mode with the default or specified properties.

Output Arguments

status — Calibration status

struct

Calibration status of the system, gyroscope, accelerometer, and magnetometer in the BNO055 sensor specified as a structure array. The values as seen by sensor correspond to the calibration status of the sensors. The values are in the range 0-3. The table describes each of the values

Value as seen by the Sensor	status	Sensor Status
0	"uncalibrated"	Sensor is uncalibrated
1	"partial"	Sensor is partially calibrated
2	"partial"	Sensor is partially calibrated
3	"full"	Sensor is fully calibrated

Data Types: struct

timestamp — Timestamp

datetime

The time at which MATLAB^® receives the calibration status, specified as a datetime.

Data Types: datetime

More About

Code Generation Using MATLAB Function Block

• Use readCalibrationStatus in a MATLAB Function block with the Simulink^® Support Package for Arduino^® Hardware to generate code that can be deployed on Arduino Hardware.

• Timestamp returned is always in seconds.

• The readCalibrationStatus returns integers that correspond the to the calibration status of the sensor.

  Value	Calibration Status
  0	uncalibrated
  1 or 2	partially calibrated
  3	fully calibrated

Version History

Introduced in R2019b