BNO055 IMU Sensor

Measure acceleration, angular rate, and magnetic field, and calculate Euler angles, quaternion, linear acceleration, and gravity vector along the axes of BNO055 sensor

Since R2026a

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Libraries:
STM32 Microcontroller Blockset / Sensors / IMU Sensors
STM32 Microcontroller Blockset / (Legacy) STM32 MBED Based Boards / MBED Based Sensors

Description

The BNO055 IMU Sensor block reads data from the BNO055 IMU sensor connected to the hardware. The block operates in two modes: Non-Fusion and Fusion.

The block outputs acceleration, angular rate, and magnetic field strength along the sensor axes in both Non-Fusion and Fusion modes. In Fusion mode, the block also outputs the sensor's orientation as Euler angles or quaternions, as well as linear acceleration, gravity vectors, and calibration status. In Non-Fusion mode, the block outputs raw values; in Fusion mode, it outputs calibrated values. The block outputs all the values except for quaternion and calibration status as a 3-by-1 array of double data type. The quaternion is a 4-by-1 array of double data type, and the calibration status is a 4-by-1 array of int8 data type.

If you simulate a model that contains the BNO055 IMU Sensor block without connecting the hardware, the block outputs zeros. For more information, see Block Produces Zeros or Does Nothing in Simulation.

Examples

Get Started with STMicroelectronics STM32 Processor Based Boards

Run a Simulink model on STM32 processor.

Open Model

Ports

Output

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Acceleration — Acceleration including force of gravity along axes of sensor
matrix

Acceleration in m/s² along the x-, y-, and z- axes of the sensor, output as an 3-by-1 vector. In fusion mode, the elements of the vector represent calibrated values, whereas in non-fusion mode, the elements represent raw values. The acceleration is measured also includes acceleration due to gravity.

Dependencies

To enable this port, select the Acceleration (m/s²) parameter.

Data Types: double

Angular rate — Angle of rotation per second about axes of sensor
matrix

Angle of rotation per second about the x-, y-, and z- axes of the sensor, output as an 3-by-1. In fusion mode, the elements of the vector represent calibrated values, whereas in non-fusion mode, the elements represent raw values. The angular rate is measured in dps.

Dependencies

To enable this port, select the Angular rate (dps) parameter.

Data Types: double

Magnetic field — Strength of magnetic field along axes of sensor
matrix

Strength of the magnetic field along the x-, y-, and z- axes of the sensor, output as a 3-by-1 vector. In Fusion mode, the elements of the vector represent calibrated values, whereas in Non-Fusion mode, the elements represent raw values. The magnetic strength is measured in μT.

Dependencies

The Magnetic field port is available only when you select the Magnetic field (μT) parameter.

Data Types: double

Euler Angles — Sensor orientation given as Euler angles
matrix

Orientation along the axes of the sensor, output as a 3-by-1 vector in the Azimuth-Pitch-Roll notation (z-y-x sequence).

Angular Quantity	Range in Degrees
Azimuth	[0, 360]
Pitch	[−180, 180]
Roll	[−90, 90]

Dependencies

The Euler Angles port is available only when you set the Operation mode to Fusion and select the Euler angles (degrees) parameter.

Data Types: double

Quaternion — Sensor orientation given as a quaternion
quaternion array

Orientation along the w-, x-, y-, and z- axes of the sensor, output as a 4-by-1 vector. The orientation is measured in quaternion.

Dependencies

The Quaternion port is available only when you set the Operation mode to Fusion and select the Quaternion (quaternion) parameter.

Data Types: double

Linear acceleration — Acceleration excluding force of gravity along axes of sensor
matrix

Linear acceleration along the x-, y-, and z- axes of the sensor, output as a 3-by-1 vector. The acceleration is measured in m/s² and does not include acceleration due to gravity.

Dependencies

The Linear acceleration port is available only when you set the Operation mode to Fusion and select the Linear acceleration (m/s^2) parameter.

Data Types: double

Gravity Vector — Acceleration due to gravity along axes of sensor
matrix

Acceleration due to gravity along the x-, y-, and z- axes of the sensor, output as a 3-by-1 vector. The acceleration due to gravity is measured in m/s².

Dependencies

The Gravity Vector port is available only when you set the Operation mode to Fusion and select the Gravity vector (m/s^2) parameter.

Data Types: double

Calibration status — Calibration status of overall system and gyroscope, accelerometer, and magnetometer
matrix

Calibration status of the overall system and the sensors (gyroscope, accelerometer, and magnetometer) located inside the BNO055 sensor, output as a 3-by-1 vector.

This table shows what each element values in the vector indicate about the sensor calibration status.

Value	Calibration Status
`0`	Uncalibrated
`1` and `2`	Partially calibrated
`3`	Fully calibrated

A partially calibrated sensor with a calibration status of 2 provides more accurate readings than the sensor with a calibration status of 1.

Note

If the Calibration status port outputs an array with all the elements having a value of -1, ensure that the sensor is properly connected to the hardware and the value of the I2C address parameter is correct.

Dependencies

The Calibration status port is available only when you set the Operation mode to Fusion and select the Status parameter.

Data Types: int8

Parameters

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I2C module — I2C communication module
`0` (default) | scalar

Specify the I2C module on the STM32 processor to communicate with sensor peripherals.

Programmatic Use

Block Parameter: I2cModule

I2C address — I2C peripheral address of sensor
`0x28` (default) | `0x29`

Select the I2C address of the sensor from which the block read values.

Programmatic Use

Block Parameter: I2cAddress

Operation mode — Option to output calibrated or raw values
`Fusion` (default) | `Non-Fusion`

Fusion — When you set Operation mode to Fusion, the sensor operates in 9 degrees of freedom (NDOF) mode. The block outputs calibrated values from the sensor.

This table lists the block output, measurement unit, dimension, and the axes of the sensor along which each of these outputs are measured.

Output	Unit	Dimension	Axes
Acceleration	Meter per second squared (m/s²)	3-by-1	x, y, and z
Angular rate	Meter per second squared (m/s²)	3-by-1	x, y, and z
Magnetic field	microtesla (μT)	3-by-1	x, y, and z
Euler angles	degrees per second (dps)	3-by-1	x, y, and z
Quaternions	Quaternion units	4-by-1	w, x, y, and z
Linear acceleration	Meter per second squared (m/s²)	3-by-1	x, y, and z
Gravity vector	Meter per second squared (m/s²)	3-by-1	x, y, and z

Note

In Fusion mode, an internal fusion algorithm configures the range and bandwidth of the sensor with some values. These values cannot be modified.

Non-Fusion — When you set Operation mode to Non-Fusion, the sensor operates in Accelerometer Magnetometer Gyroscope (AMG) mode. The block outputs raw values from the sensor.

This table lists the block output, measurement unit, dimension, and the axes of the sensor along which each of these outputs are measured in Non-Fusion mode.

Output	Unit	Dimension	Axes
Acceleration	Meter per second squared (m/s²)	3-by-1	x, y, and z
Angular rate	Meter per second squared (m/s²)	3-by-1	x, y, and z
Magnetic field	microtesla (μT)	3-by-1	x, y, and z

Programmatic Use

Block Parameter: OperationMode

Sample time — Interval to read values from sensor
`–1` (default) | `-1` | any nonnegative value

Specify how often the block read values from the sensor, in seconds. When you specify this parameter as -1, Simulink^® determines the best sample time for the block based on the block context within the model. The output sample time is the product of Sample time that you specify.

Programmatic Use

Block Parameter: SampleTime

Select Outputs

Acceleration (m/s^2) — Acceleration including force of gravity along axes of sensor
`on` (default) | `off`

When you select the Acceleration (m/s^2) parameter, the Acceleration port becomes available. For more information on the Acceleration port, see Acceleration.

Programmatic Use

Block Parameter: Acceleration

Angular rate (dps) — Angle of rotation per second about axes of sensor
`on` (default) | `off`

When you select the Angular rate (dps) parameter, the Angular Rate port becomes available. For more information on the Angular Rate port, see Angular rate.

Programmatic Use

Block Parameter: AngularRate

Magnetic field (μT) — Strength of magnetic field along axes of sensor
`on` (default) | `off`

When you select the Magnetic field (μT) parameter, the Magnetic Field port becomes available. For more information on the Magnetic Field port, see Magnetic field.

Programmatic Use

Block Parameter: MagneticField

Data Types: double

Euler angles (degrees) — Orientation along axes of sensor
`off` (default) | `on`

When you select the Euler angles (degrees) parameter, the Euler Angles port becomes available. For more information on the Euler Angles port, see Euler Angles.

Programmatic Use

Block Parameter: EulerAngles

Dependencies

The Euler angles (degrees) parameter is available only when you set the Operation mode to Fusion.

Quaternion (quaternion) — Orientation along axes of sensor
`off` (default) | `on`

When you select the Quaternion (quaternion) parameter, the Quaternion port becomes available. For more information on the Quaternion port, see Quaternion.

Programmatic Use

Block Parameter: Quaternion

Dependencies

The Quaternion (quaternion) parameter is available only when you set the Operation mode to Fusion

Data Types: double

Linear acceleration (m/s^2) — Acceleration excluding force of gravity along axes of sensor
`off` (default) | `on`

When you select the Linear acceleration (m/s^2) parameter, the Linear Acceleration port becomes available. For more information on the Linear Acceleration port, see Linear acceleration.

Programmatic Use

Block Parameter: LinearAcceleration

Dependencies

The Linear acceleration (m/s^2) parameter is available only when you set the Operation mode to Fusion.

Gravity vector (m/s^2) — Acceleration due to gravity along axes of sensor
`off` (default) | `on`

When you select the Gravity vector (m/s^2) parameter, the Gravity Vector port becomes available. For more information on the Gravity Vector port, see Gravity Vector.

Programmatic Use

Block Parameter: GravityVector

Dependencies

The Gravity vector (m/s^2) parameter is available only when you set the Operation mode to Fusion.

Status — Status of read operation
`on` (default) | `off`

Select this parameter to display the status of read operation.

When you select the Status parameter, the Calibration Status port becomes available. For more information on the Calibration Status port, see Calibration status.

Programmatic Use

Block Parameter: Status

Timestamp (s) — Set output port for obtaining timestamp
`off` (default) | `on`

Select this parameter to set Timestamp as one of the output ports.

Programmatic Use

Block Parameter: Timestamp

Advanced Sensor Settings (optional)

Accelerometer range — Range of acceleration deviation measured by accelerometer
`4G` (default) | `2G` | `8G` | `16G`

Specify the deviation in the acceleration that the accelerometer can measure. The smaller the accelerometer range is, the more sensitive the readings from the accelerometer are. A small range provides more detailed data, resulting in a more precise reading from the accelerometer.

Programmatic Use

Block Parameter: AccelerometerRange

Dependencies

The Accelerometer range parameter is available only when you set the Operation mode to Non-Fusion.

Accelerometer bandwidth — Frequency response of accelerometer
`62.5 Hz` (default) | `7.81 Hz` | `15.63 Hz` | `31.25 Hz` | `125 Hz` | `250 Hz` | `500 Hz` | `1000 Hz`

Specify the frequency at which the accelerometer measures acceleration.

Programmatic Use

Block Parameter: AccelerometerBandwidth

Dependencies

The Accelerometer bandwidth parameter is available only when you set the Operation mode to Non-Fusion.

Gyroscope range — Maximum angular velocity measured by gyroscope
`2000 dps` (default) | `125 dps` | `250 dps` | `500 dps` | `1000 dps`

Specify the maximum angular velocity that the gyroscope can measure per second.

Programmatic Use

Block Parameter: GyroscopeRange

Dependencies

The Gyroscope range parameter is available only when you set the Operation mode to Non-Fusion.

Gyroscope bandwidth — Frequency response of gyroscope
`32 Hz` (default) | `12 Hz` | `23 Hz` | `47 Hz` | `64 Hz` | `116 Hz` | `230 Hz` | `523 Hz`

Specify the frequency at which the gyroscope measures angular velocity.

Programmatic Use

Block Parameter: GyroscopeBandwidth

Dependencies

The Gyroscope bandwidth parameter is available only when you set the Operation mode to Non-Fusion.

Magnetometer output data range — Rate at which data is sampled
`10 Hz` (default) | `2 Hz` | `6 Hz` | `8 Hz` | `15 Hz` | `20 Hz` | `25 Hz` | `30 Hz`

Specify the range of the magnetic field that the magnetometer can read.

Programmatic Use

Block Parameter: MagnetometerOutputDataRange

Dependencies

The Magnetometer output data range parameter is available only when you set the Operation mode to Fusion

Data Types: double

Extended Capabilities

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C/C++ Code Generation
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Version History

Introduced in R2026a

BNO055 IMU Sensor

Description

Examples

Get Started with STMicroelectronics STM32 Processor Based Boards

Ports

Output

Acceleration — Acceleration including force of gravity along axes of sensor matrix

Dependencies

Angular rate — Angle of rotation per second about axes of sensor matrix

Dependencies

Magnetic field — Strength of magnetic field along axes of sensor matrix

Dependencies

Euler Angles — Sensor orientation given as Euler angles matrix

Dependencies

Quaternion — Sensor orientation given as a quaternion quaternion array

Dependencies

Linear acceleration — Acceleration excluding force of gravity along axes of sensor matrix

Dependencies

Gravity Vector — Acceleration due to gravity along axes of sensor matrix

Dependencies

Calibration status — Calibration status of overall system and gyroscope, accelerometer, and magnetometer matrix

Dependencies

Parameters

I2C module — I2C communication module 0 (default) | scalar

Programmatic Use

I2C address — I2C peripheral address of sensor 0x28 (default) | 0x29

Programmatic Use

Operation mode — Option to output calibrated or raw values Fusion (default) | Non-Fusion

Programmatic Use

Sample time — Interval to read values from sensor –1 (default) | -1 | any nonnegative value

Programmatic Use

Select Outputs

Acceleration (m/s^2) — Acceleration including force of gravity along axes of sensor on (default) | off

Programmatic Use

Angular rate (dps) — Angle of rotation per second about axes of sensor on (default) | off

Programmatic Use

Magnetic field (μT) — Strength of magnetic field along axes of sensor on (default) | off

Programmatic Use

Euler angles (degrees) — Orientation along axes of sensor off (default) | on

Programmatic Use

Dependencies

Quaternion (quaternion) — Orientation along axes of sensor off (default) | on

Programmatic Use

Dependencies

Linear acceleration (m/s^2) — Acceleration excluding force of gravity along axes of sensor off (default) | on

Programmatic Use

Dependencies

Gravity vector (m/s^2) — Acceleration due to gravity along axes of sensor off (default) | on

Programmatic Use

Dependencies

Status — Status of read operation on (default) | off

Programmatic Use

Timestamp (s) — Set output port for obtaining timestamp off (default) | on

Programmatic Use

Advanced Sensor Settings (optional)

Accelerometer range — Range of acceleration deviation measured by accelerometer 4G (default) | 2G | 8G | 16G

Programmatic Use

Dependencies

Accelerometer bandwidth — Frequency response of accelerometer 62.5 Hz (default) | 7.81 Hz | 15.63 Hz | 31.25 Hz | 125 Hz | 250 Hz | 500 Hz | 1000 Hz

Programmatic Use

Dependencies

Gyroscope range — Maximum angular velocity measured by gyroscope 2000 dps (default) | 125 dps | 250 dps | 500 dps | 1000 dps

Programmatic Use

Dependencies

Gyroscope bandwidth — Frequency response of gyroscope 32 Hz (default) | 12 Hz | 23 Hz | 47 Hz | 64 Hz | 116 Hz | 230 Hz | 523 Hz

Programmatic Use

Dependencies

Magnetometer output data range — Rate at which data is sampled 10 Hz (default) | 2 Hz | 6 Hz | 8 Hz | 15 Hz | 20 Hz | 25 Hz | 30 Hz

Programmatic Use

Dependencies

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using Simulink® Coder™.

Version History

Acceleration — Acceleration including force of gravity along axes of sensor
matrix

Angular rate — Angle of rotation per second about axes of sensor
matrix

Magnetic field — Strength of magnetic field along axes of sensor
matrix

Euler Angles — Sensor orientation given as Euler angles
matrix

Quaternion — Sensor orientation given as a quaternion
quaternion array

Linear acceleration — Acceleration excluding force of gravity along axes of sensor
matrix

Gravity Vector — Acceleration due to gravity along axes of sensor
matrix

Calibration status — Calibration status of overall system and gyroscope, accelerometer, and magnetometer
matrix

I2C module — I2C communication module
`0` (default) | scalar

I2C address — I2C peripheral address of sensor
`0x28` (default) | `0x29`

Operation mode — Option to output calibrated or raw values
`Fusion` (default) | `Non-Fusion`

Sample time — Interval to read values from sensor
`–1` (default) | `-1` | any nonnegative value

Acceleration (m/s^2) — Acceleration including force of gravity along axes of sensor
`on` (default) | `off`

Angular rate (dps) — Angle of rotation per second about axes of sensor
`on` (default) | `off`

Magnetic field (μT) — Strength of magnetic field along axes of sensor
`on` (default) | `off`

Euler angles (degrees) — Orientation along axes of sensor
`off` (default) | `on`

Quaternion (quaternion) — Orientation along axes of sensor
`off` (default) | `on`

Linear acceleration (m/s^2) — Acceleration excluding force of gravity along axes of sensor
`off` (default) | `on`

Gravity vector (m/s^2) — Acceleration due to gravity along axes of sensor
`off` (default) | `on`

Status — Status of read operation
`on` (default) | `off`

Timestamp (s) — Set output port for obtaining timestamp
`off` (default) | `on`

Accelerometer range — Range of acceleration deviation measured by accelerometer
`4G` (default) | `2G` | `8G` | `16G`

Accelerometer bandwidth — Frequency response of accelerometer
`62.5 Hz` (default) | `7.81 Hz` | `15.63 Hz` | `31.25 Hz` | `125 Hz` | `250 Hz` | `500 Hz` | `1000 Hz`

Gyroscope range — Maximum angular velocity measured by gyroscope
`2000 dps` (default) | `125 dps` | `250 dps` | `500 dps` | `1000 dps`

Gyroscope bandwidth — Frequency response of gyroscope
`32 Hz` (default) | `12 Hz` | `23 Hz` | `47 Hz` | `64 Hz` | `116 Hz` | `230 Hz` | `523 Hz`

Magnetometer output data range — Rate at which data is sampled
`10 Hz` (default) | `2 Hz` | `6 Hz` | `8 Hz` | `15 Hz` | `20 Hz` | `25 Hz` | `30 Hz`

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.