# Adafruit BNO055 Absolute Orientation Sensor
## Overview
If you've ever ordered and wire up a 9-DOF sensor, chances are you've also realized the challenge of turning the sensor data from an accelerometer, gyroscope and magnetometer into actual "3D space orientation"! Orientation is a hard problem to solve. The sensor fusion algorithms (the secret sauce that blends accelerometer, magnetometer and gyroscope data into stable three-axis orientation output) can be mind-numbingly difficult to get right and implement on low cost real time systems.
Bosch is the first company to get this right by taking a MEMS accelerometer, magnetometer and gyroscope and putting them on a single die with a high speed ARM Cortex-M0 based processor to digest all the sensor data, abstract the sensor fusion and real time requirements away, and spit out data you can use in quaternions, Euler angles or vectors.
Warning: The BNO055 I2C implementation violates the I2C protocol in some circumstances. This causes it not to work well with certain chip families. It does not work well NXP i.MX RT1011, and it does not work well with I2C multiplexers. With ESP32 and ESP32-S3, CircuitPython 9.2.2 and later (which use ESP-IDF 5.3.2 and later) work better. Earlier versions of CircuitPython and ESP-IDF do not work well.
Operation with SAMD51, RP2040, STM32F4, and nRF52840 is more reliable.
The new version of the board includes [SparkFun qwiic](https://www.sparkfun.com/qwiic) compatible** [STEMMA QT](https://learn.adafruit.com/introducing-adafruit-stemma-qt)** connectors for the I2C bus so **you don't even need to solder!** Use a a plug-and-play STEMMA QT cable to get 9 DoF data ASAP.
Rather than spending weeks or months fiddling with algorithms of varying accuracy and complexity, you can have meaningful sensor data in minutes thanks to the BNO055 - a smart 9-DOF sensor that does the sensor fusion all on its own!
# Data Output
The BNO055 can output the following sensor data:
- **Absolute Orientation** (Euler Vector, 100Hz)
Three axis orientation data based on a 360° sphere
- **Absolute Orientation** (Quaterion, 100Hz)
Four point quaternion output for more accurate data manipulation
- **Angular Velocity Vector** (100Hz)
Three axis of 'rotation speed' in rad/s
- **Acceleration Vector** (100Hz)
Three axis of acceleration (gravity + linear motion) in m/s^2
- **Magnetic Field Strength Vector** (20Hz)
Three axis of magnetic field sensing in micro Tesla (uT)
- **Linear Acceleration Vector** (100Hz)
Three axis of linear acceleration data (acceleration minus gravity) in m/s^2
- **Gravity Vector** (100Hz)
Three axis of gravitational acceleration (minus any movement) in m/s^2
- **Temperature** (1Hz)
Ambient temperature in degrees celsius
## Related Resources
- [Datasheet](http://www.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf)
- [Adafruit BNO055 Library](https://github.com/adafruit/Adafruit_BNO055) (GitHub)
- [Comparing the BNO085 vs BNO055](https://forums.adafruit.com/viewtopic.php?t=182704) (Adafruit Forums)
- [Next Page](https://learn.adafruit.com/adafruit-bno055-absolute-orientation-sensor/pinouts.md)
## Featured Products
### Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055
[Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055](https://www.adafruit.com/product/2472)
If you've ever ordered and wire up a 9-DOF sensor, chances are you've also realized the challenge of turning the sensor data from an accelerometer, gyroscope and magnetometer into actual "3D space orientation"! Orientation is a hard problem to solve. The sensor fusion...
In Stock
[Buy Now](https://www.adafruit.com/product/2472)
[Related Guides to the Product](https://learn.adafruit.com/products/2472/guides)
### Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055
[Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055](https://www.adafruit.com/product/4646)
If you've ever ordered and wire up a 9-DOF sensor, chances are you've also realized the challenge of turning the sensor data from an accelerometer, gyroscope, and magnetometer into actual "3D space orientation"! Orientation is a hard problem to solve. The sensor fusion...
In Stock
[Buy Now](https://www.adafruit.com/product/4646)
[Related Guides to the Product](https://learn.adafruit.com/products/4646/guides)
### STEMMA QT / Qwiic JST SH 4-pin to Premium Male Headers Cable
[STEMMA QT / Qwiic JST SH 4-pin to Premium Male Headers Cable](https://www.adafruit.com/product/4209)
This 4-wire cable is a little over 150mm / 6" long and fitted with JST-SH female 4-pin connectors on one end and premium Dupont male headers on the other. Compared with the chunkier JST-PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert...
In Stock
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[Related Guides to the Product](https://learn.adafruit.com/products/4209/guides)
### STEMMA QT / Qwiic JST SH 4-pin Cable - 100mm Long
[STEMMA QT / Qwiic JST SH 4-pin Cable - 100mm Long](https://www.adafruit.com/product/4210)
This 4-wire cable is a little over 100mm / 4" long and fitted with JST-SH female 4-pin connectors on both ends. Compared with the chunkier JST-PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert and remove.
Out of Stock
[Buy Now](https://www.adafruit.com/product/4210)
[Related Guides to the Product](https://learn.adafruit.com/products/4210/guides)
### STEMMA QT / Qwiic JST SH 4-pin Cable with Premium Female Sockets
[STEMMA QT / Qwiic JST SH 4-pin Cable with Premium Female Sockets](https://www.adafruit.com/product/4397)
This 4-wire cable is a little over 150mm / 6" long and fitted with JST-SH female 4-pin connectors on one end and premium female headers on the other. Compared with the chunkier JST-PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert and...
In Stock
[Buy Now](https://www.adafruit.com/product/4397)
[Related Guides to the Product](https://learn.adafruit.com/products/4397/guides)
### STEMMA QT / Qwiic JST SH 4-Pin Cable - 50mm Long
[STEMMA QT / Qwiic JST SH 4-Pin Cable - 50mm Long](https://www.adafruit.com/product/4399)
This 4-wire cable is 50mm / 1.9" long and fitted with JST SH female 4-pin connectors on both ends. Compared with the chunkier JST PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert and remove.
In Stock
[Buy Now](https://www.adafruit.com/product/4399)
[Related Guides to the Product](https://learn.adafruit.com/products/4399/guides)
### STEMMA QT / Qwiic JST SH 4-Pin Cable - 200mm Long
[STEMMA QT / Qwiic JST SH 4-Pin Cable - 200mm Long](https://www.adafruit.com/product/4401)
This 4-wire cable is a little over 200mm / 7.8" long and fitted with JST-SH female 4-pin connectors on both ends. Compared with the chunkier JST-PH these are 1mm pitch instead of 2mm, but still have a nice latching feel, while being easy to insert and remove.
In Stock
[Buy Now](https://www.adafruit.com/product/4401)
[Related Guides to the Product](https://learn.adafruit.com/products/4401/guides)
### JST SH 4-pin Cable with Alligator Clips - STEMMA QT / Qwiic
[JST SH 4-pin Cable with Alligator Clips - STEMMA QT / Qwiic](https://www.adafruit.com/product/4398)
This cable will make it super easy to use our plug-and-play STEMMA QT boards with boards like Circuit Playground. On one end you get a Qwiic / STEMMA QT connector (technically known as a JST SH 4-pin plug) into 4 individual wires with grippy alligator clips. We're carrying these to...
Out of Stock
[Buy Now](https://www.adafruit.com/product/4398)
[Related Guides to the Product](https://learn.adafruit.com/products/4398/guides)
## Related Guides
- [PowerWash Simulator Nozzle Controller](https://learn.adafruit.com/powerwash-simulator-nozzle-controller.md)
- [BNO055 Absolute Orientation Sensor with Raspberry Pi & BeagleBone Black](https://learn.adafruit.com/bno055-absolute-orientation-sensor-with-raspberry-pi-and-beaglebone-black.md)
- [I2C Addresses and Troublesome Chips](https://learn.adafruit.com/i2c-addresses.md)
- [Comparing Gyroscope Datasheets](https://learn.adafruit.com/comparing-gyroscope-datasheets.md)
- [Sending Live Sensor Data to iOS with BLE](https://learn.adafruit.com/bno055-ble-ios-app.md)
- [Quickstart: Adafruit IO WipperSnapper ](https://learn.adafruit.com/quickstart-adafruit-io-wippersnapper.md)
- [Interpreting Environmental Sensor Data With Local "Edge" LLMs](https://learn.adafruit.com/interpreting-environmental-sensor-data-with-llms.md)
- [Getting Started with Binho Nova](https://learn.adafruit.com/getting-started-with-binho-nova.md)
- [CircuitPython Libraries on any Computer with Raspberry Pi Pico](https://learn.adafruit.com/circuitpython-libraries-on-any-computer-with-raspberry-pi-pico.md)
- [Trinkey True Random Number Generator](https://learn.adafruit.com/trinkey-qt2040-true-random-number-generator.md)
- [Chauncey the Flower Care Bot with CLUE and Bonsai Buckaroo](https://learn.adafruit.com/chauncey-flower-watering-bot-clue.md)
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