top of page
Search

Upgrading Edu-AMR with RPi-5 and BNO055 IMU!

zenorobotics

BNO055 9-axis IMU


I am currently finishing the Arduino C/C++ code for the BNO055 9-axis IMU. This will be replacing the MPU6050 that I have used previously. The BNO055 is much easier to work with code wise and its accuracy easily overshadows that of the MPU6050. Sensor fusion occurs on board the BNO055 using a dedicated ARM Cortex-M0 processor that handles the sensor fusion calculations internally. The processor runs a sophisticated fusion algorithm, like a Madgwick or Mahony filter, to combine data from the accelerometer, gyroscope, and magnetometer, providing a more accurate and stable orientation reading!


The BNO055 is a bit costly compared to the 6050 ($30 vs $5), but definitely worth it I think. More information can be found on the Bosch MEMS chip as implemented on the Adafruit board.


Raspberry Pi 5


To keep our intro autonomous mobile robot up to date, we are replacing the Raspberry Pi 4B with the Raspberry Pi 5. The RPi-5 uses an upgraded Broadcom BCN12712, quad-core Cortex-A76 processor which runs at 2.4 GHz. The RPi-4's Cortex-A72 runs at 1.8 GHz. The computational performance is said to be 2-3x that of the RPi-4's processor.


Additionally, the two camera/display connectors on the RPi-5 are both 4-lane MIPI (DSI/CSI) compared to the 2-lane MIPI's of the RPi-4. The RPi-5 also includes a a single-lane Gen 2 PCIe connection thus allowing for use of an NVMe or an M.2 SSD. Use of these types of memory would allow for faster read/write speeds leading to improved processing performance.


Our next blog will cover the use of ROS 2 on the Edu-AMR.


2 views0 comments

Comentarios


©2020 by ZenoRobotics, LLC. Proudly created with Wix.com

bottom of page