BNO055 imu board

[anonymous-user]

Anyone know much about these boards? I've been having a general play with one hooked up to an Arduino, via XOD. I've found some really useful libraries but all I can find online emphasises roll, pitch and yaw. I'm after heave which I'm assuming is the linear acceleration output in the z direction. The problem is that I'm not certain it's the fusion direction or maybe tangential?

I've had a good watch of the raw data and I'm not convinced it's the output I need for heave.

Also, it's as noisy as you'd expect so I've added low and high pass filtration plus a kalman filter. Still seems erratic though, probably because I've not tuned the kalman filter. Maybe I also need a PID routine?

Any advice would be gladly received.