# BNO08X family

The BNO08X family is a 9-axis sensor hub that combines an accelerometer, gyroscope, and magnetometer with onboard sensor-fusion
firmware. It can output raw sensor data as well as fused signals such as gravity, linear acceleration, and quaternion-based
orientation reports.

 * Vendor documentation: [BNO080/BNO085 datasheet](https://www.ceva-ip.com/wp-content/uploads/BNO080_085-Datasheet.pdf)

## Overview

| Spec | Value |
| --- | --- |
| Axes | 9 |
| Physical sensors | Accelerometer, gyroscope, magnetometer |
| Magnetometer | Yes |
| Sensor-side derived outputs | Rotation vector, game rotation vector, geomagnetic rotation vector, gravity, linear acceleration |
| Absolute heading on-sensor | Yes |

## Orientation

Use the drawing below as the vendor-axis reference for BNO08X acceleration and angular-rate directions.

## DepthAI-exposed runtime behavior

DepthAI runtime behavior is not always identical to the sensor's native silicon capability. Luxonis public IMU documentation
distinguishes between max supported report rates, stable operating rates, and rate-rounding behavior for BNO08X.

| Spec | Value |
| --- | --- |
| Stable accelerometer request points | 15 / 31 / 62 / 125 / 250 / 500 Hz |
| Stable gyroscope request points | 25 / 33 / 50 / 100 / 200 / 400 Hz |
| Raw gyro max exposed rate | up to 1000 Hz |
| Accelerometer max exposed rate | up to 512 Hz |
| Rotation vector max exposed rate | up to 400 Hz |
| Rate rounding behavior | Requested rate rounds up to the next supported rate |

## Exposed report families

| Report | Max exposed rate |
| --- | --- |
| `ACCELEROMETER_RAW` | 512 Hz |
| `ACCELEROMETER` | 512 Hz |
| `LINEAR_ACCELERATION` | 400 Hz |
| `GRAVITY` | 400 Hz |
| `GYROSCOPE_RAW` | 1000 Hz |
| `GYROSCOPE_CALIBRATED` / `GYROSCOPE_UNCALIBRATED` | 100 Hz |
| `MAGNETOMETER_RAW` | 100 Hz |
| `MAGNETOMETER_CALIBRATED` / `MAGNETOMETER_UNCALIBRATED` | 100 Hz |
| `ROTATION_VECTOR` | 400 Hz |
| `GAME_ROTATION_VECTOR` | 400 Hz |
| `GEOMAGNETIC_ROTATION_VECTOR` | 100 Hz |
| `ARVR_STABILIZED_ROTATION_VECTOR` | 100 Hz |
| `ARVR_STABILIZED_GAME_ROTATION_VECTOR` | 100 Hz |

## Characterized noise parameters

| Axis | Accel noise density | Accel random walk | Accel bias stability | Gyro noise density | Gyro random walk | Gyro bias
stability |
| --- | --- | --- | --- | --- | --- | --- |
| X | 0.0692403639964709 | 0.0000461328717714577 | 0.0386793003109186 | 0.465205344044338 | 0.0491916520693084 | 3.99864012266883
|
| Y | 0.0742093087895724 | 0.00010064709494043 | 0.0585864026373569 | 0.586021948307277 | 0.0981500052716509 | 5.28298206123443 |
| Z | 0.0852002105900927 | 0.0000360363593803144 | 0.0487133253165953 | 0.390692669835732 | 0.0609802057752869 | 4.38768918027593
|