If BNO055 fails, KBox should not send ghost HDG, Roll & Pitch

[ronzeiller]

If BNO055 fails to start for any reason, KBox should/could deactivate Service to not send HDG, Roll & Pitch

Debug output at start up:

D IMUService.cpp:56 Initing BNO055
D Adafruit_BNO055.cpp:68 Waiting for BNO055 to boot ...
D Adafruit_BNO055.cpp:72 Failed to see BNO055 appear after 1 sec
D IMUService.cpp:58 Error initializing BNO055

Data Output:

$IIXDR,A,-0.0,D,PTCH,A,-0.0,D,ROLL*5C
$IIHDM,269.9,M*26

[ronzeiller]

An easy method could be to set
config.imuConfig.enabled = false

then the imuService will not start and the IMUMonitoringPage is deactivated too?

[sarfata]

I like your workaround but we should fix the underlying issue and not generate anything if the sensor is not responding.

[ronzeiller]

I like your workaround but we should fix the underlying issue and not generate anything if the sensor is not responding.

You are right, but two things to consider:

1. underlying things should be done in the bno055 library
2. For KBox-users on boats with heading/heel/pitch on the bus it could be nice if they can turn off internal sensor.
3. Is an egoistic approache: in my box I have some outputs with plugs. The BNO055 sensor is in a small case with a cable, plugged to the box. On boats with heading/pitch/heel on the bus I unplug the sensor. It would be great to stay within your master development as much as possible.

[sarfata]

I think we both agree here ;)

• I agree with your solution to just disable the IMU in the configuration. I think this already works.
• I agree that the IMU should not send anything if the sensor is not available. Let's keep this issue open to address this problem.

Do you agree? Did I misunderstand your request? Do you want to change anything else?