Support for Geomagnetic Rotation Vector

Author: lewispg228

keywords.txt

@@ -26,6 +26,7 @@ modeSleep	KEYWORD2
 qToFloat	KEYWORD2
 
 enableRotationVector	KEYWORD2
+enableGeomagneticRotationVector	KEYWORD2
 enableGameRotationVector	KEYWORD2
 enableARVRStabilizedRotationVector	KEYWORD2
 enableARVRStabilizedGameRotationVector	KEYWORD2

src/SparkFun_BNO08x_Arduino_Library.cpp

@@ -796,6 +796,13 @@ bool BNO08x::enableRotationVector(uint16_t timeBetweenReports)
 	return enableReport(SH2_ROTATION_VECTOR, timeBetweenReports);
 }
 
+//Sends the packet to enable the geomagnetic rotation vector
+bool BNO08x::enableGeomagneticRotationVector(uint16_t timeBetweenReports)
+{
+	timeBetweenReports  = timeBetweenReports * 1000; // ms to us
+	return enableReport(SH2_GEOMAGNETIC_ROTATION_VECTOR, timeBetweenReports);
+}
+
 //Sends the packet to enable the ar/vr stabilized rotation vector
 bool BNO08x::enableARVRStabilizedRotationVector(uint16_t timeBetweenReports)
 {

src/SparkFun_BNO08x_Arduino_Library.h

@@ -171,6 +171,7 @@ class BNO08x
 	float qToFloat(int16_t fixedPointValue, uint8_t qPoint); //Given a Q value, converts fixed point floating to regular floating point number
 
 	bool enableRotationVector(uint16_t timeBetweenReports = 10);
+	bool enableGeomagneticRotationVector(uint16_t timeBetweenReports = 10);
 	bool enableGameRotationVector(uint16_t timeBetweenReports = 10);
 	bool enableARVRStabilizedRotationVector(uint16_t timeBetweenReports);
 	bool enableARVRStabilizedGameRotationVector(uint16_t timeBetweenReports);