The BNO085 runs proprietary Hillcrest/Ceva sensor fusion on-chip. Inputs: raw accel + gyro + mag. Output: stable orientation quaternion + linear acceleration (gravity removed) + gyro bias estimate.
Fusion modes
The chip exposes several fusion “reports” — pick the right one for the task:
- Rotation Vector — quaternion + accuracy estimate, drift-corrected by mag. Best for general orientation.
- Game Rotation Vector — quaternion without mag (drifts in yaw, but immune to magnetic disturbances).
- Geomagnetic Rotation Vector — quaternion with mag emphasis, slower update but more accurate in stable mag environments.
For our drone, Game Rotation Vector is the safe pick — magnetic interference from the motors disrupts magnetometer-based fusion.
Where to go next
- Description — specs
- Interfaces — connection options
- BNO085 hub