How to use euler as a compass heading

[KingFuGitHub]

Currently the euler acts like a heading when it's turned on facing north. I wonder how I could make it so the sensor.euler[0] acts like a compass heading when not facing north originally when the IMU turned on. Thank you in advance.

[tekktrik]

A brief look at the data sheet doesn't show a way to tell the sensor to compensate for the difference. But you could always do it yourself if you know the angle!

import time
import board
import adafruit_bno055

i2c = board.I2C()
sensor = adafruit_bno055.BNO055_I2C(i2c)

heading_offset = 22.1  # offset of 22.1 degrees

while True:
    print("Heading based on power on: {}".format(sensor.euler[0]))
    print("Compass heading (offset based): {}".format(sensor.euler[0] + heading_offset))
    time.sleep(1)

[KingFuGitHub]

That would be hard coding it because the offset isn't always the same due to the initial boot up orientation being different every time the IMU is powered on.

[tekktrik]

Duplicate of #100