Unable to get correct quaternion value

[Prabodh]

Unable to get correct quaternion value

Nicla Sense ME

Arduino IDE 1.8

What version of Mbed-os are you using (tag or sha) ?

Arduino IDE 1.8 and Nicla Sense ME

Simply go to File-->Examples-->Arduino_BHY2-->Standalone and modify the code to show quaternion value. The values should be float and from 0-1 as mentioned in the documents here: https://docs.arduino.cc/tutorials/nicla-sense-me/getting-started#hardware--software-needed

However, I get some random integer value like below

12:28:50.693 -> 15420 120 -5402 -1196
12:28:50.693 -> 15420 120 -5402 -1196
12:28:50.729 -> 15420 120 -5402 -1196
12:28:50.729 -> 15420 120 -5402 -1196
12:28:50.729 -> 15420 120 -5402 -1196
12:28:50.766 -> 15421 119 -5401 -1196
12:28:50.766 -> 15421 119 -5401 -1196
12:28:50.766 -> 15421 119 -5401 -1196

My code is as below

#include "Arduino.h"
#include "Arduino_BHY2.h"

SensorQuaternion quaternion(SENSOR_ID_RV);

void setup()
{
  Serial.begin(115200);

  BHY2.begin();
  quaternion.begin();
}

void loop()
{
  BHY2.update();

  Serial.print(quaternion.w());
  Serial.print(" ");
  Serial.print(quaternion.x());
  Serial.print(" ");
  Serial.print(quaternion.y());
  Serial.print(" ");
  Serial.println(quaternion.z());

  delay(10);
}

[Prabodh]

@per1234 is there any update on this?

[giulcioffi]

Hi @prabodhprakash, yes there was an error in quaternion data parsing in the BHY2 libraries. Please have a look at PR #41 which should solve the issue.