CEVA BNO085 Usage Manual

Introduction
This document describes the Tare function of the BNO085/BNO086 that redefines the orientation of the
sensor. This allows the outputs of the BNO085/BNO086 to be in line with the orientation with which it
was mounted into the main device. These commands are described in more detail in the SH-2
Reference Manual [1] and this document assumes that the reader has this manual available for
reference.
Note: The BNO080 is discontinued. For new designs CEVA recommends the BNO085 or BNO086.
Tare Overview
The BNO085/BNO086 uses two commands and a configuration record to redefine the sensor's
orientation, or "Tare":
- Commands:
o Tare Now (Section 6.4.4.1 of SH-2 Reference Manual)

o Persist Tare (Section 6.4.4.2 of SH-2 Reference Manual)

- Configuration Record
o Sensor Orientation

Tare Options
There are two options that you can choose from when running a Tare operation:
- Axes
o Which axes do you want to tare across? For instance, you can choose to only tare on
yaw (Z-axis) which will reset the heading to the user's current forward orientation. Or
you can tare across all axes (resets heading, pitch and roll).
February 2023
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Allows for a temporary Tare. Useful at the start of a game to define the current
orientation.
Saves the current Tare orientation into the Sensor Orientation configuration
record. This is a persistent setting that now becomes the default orientation.
Stores the orientation of the device. Once you know the standard orientation of
your BNO085/BNO086 in your device, you can use the same starting orientation
for all devices using this record as a convenient starting point. More accurate
per-device taring can be done using the commands above.
Document 1000-4045 -- Revision 1.3
© 2023 CEVA, Inc. All rights reserved
1000-4045 - App Note
BNO085/BNO086 Tare Function
Usage Guide
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