February 2023 Document 1000-4045 -- Revision 1.3
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7. Run the Tare Now command with the following settings:
P2 (Rotation Vector basis)
8. Run the Persist Tare command with the following settings:
9. This will save the current settings into the Sensor Orientation FRS config record (See SH-
2 Reference Manual Section 4.3.4). Now these settings will be the default upon next
boot.
Set Current Forward Direction (User Tare)
In this example, the user is operating the device at their desk. They want to define the forward
orientation before starting a game, so all that needs to be done is tare the Z-axis (yaw): the other axes,
which define “level” do not need to be changed from their previously established configuration. This
could be done via an on-screen GUI or button on the device. Because only the Z-axis is being tared, the
user does not need to align the device to North.
1. Ideally the sensors would be calibrated well:
a. Power on the BNO085/BNO086 and activate the Rotation Vector sensor
b. Calibrate the magnetometer by rotating the device in a figure 8
c. Set the device down for a few seconds so that the gyroscope ZRO can calibrate
as well
2. Position the device into your desired forward direction orientation
3. Run the Tare Now command with the following settings:
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