Releasing an update to BNO055 IMU AHRS.
• Updated web link to latest BNO055
datasheet, document revision 1.3
• Modified IMUOrientOpen to detect when IMU is not connected and terminate with a “Fatal Result” flag. This allows code to fail gracefully should IMU fault or an IMU wiring failure occur. This prevents the FIRST LabVIEW Begin vi from hanging due to these events, which would otherwise cause the robot to not start Tele-Op.
• Updated IMUOrientDemo to show how to use the Fatal Result flag to fall back to an Analog Gyro should IMU fault, implementing a graceful failure design.
• Modified IMUOrientRead to include Wrap2Wind vi for converting IMU Yaw output from the 'wrap' behavior of modulus math, to a 'wind' behavior of linear math, allowing the Yaw indication to count above 360 degrees and below 0 degrees. The Wrap2Wind algorithm detects and removes the Yaw orientation discontinuity (at 0/360) on the fly. It will likely work reliably at over 1000 deg/sec rotation rates, when IMUOrientRead is iterated at 20ms. Both the wrap and wind outputs are now available for Yaw.
• Included detailed Read Me file.