Add BNO055 9-DOF Absolute Orientation Sensor documentation by iret33 · Pull Request #6002 · esphome/esphome-docs

iret33 · 2026-01-29T07:57:40Z

Documentation for the BNO055 9-DOF Absolute Orientation Sensor component.

Related component PR: esphome/esphome#13616

Summary

This adds documentation for the new bno055 sensor platform, including:

Configuration examples (minimal and full)
All configuration variables documented
Sensor output categories explained
ESP32 I2C clock stretching considerations
Calibration procedure notes

Preview

The documentation covers:

Category	Sensors	Unit
Euler Angles	heading, roll, pitch	degrees
Quaternion	w, x, y, z	unitless
Linear Acceleration	x, y, z	m/s²
Gravity	x, y, z	m/s²
Raw Acceleration	x, y, z	m/s²
Gyroscope	x, y, z	°/s
Magnetometer	x, y, z	µT
Temperature	temp	°C

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As this is a feature matched with a PR in https://github.com/esphome/esphome, please target your PR to the next branch and rebase.

esphome · 2026-01-29T07:57:58Z

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coderabbitai · 2026-01-29T08:00:34Z

Walkthrough

This PR adds comprehensive documentation for the BNO055 9-DOF Absolute Orientation Sensor integration, including YAML configuration examples, detailed configuration variables, I2C considerations, and calibration guidance.

Changes

Cohort / File(s)	Summary
BNO055 Sensor Documentation `content/components/sensor/bno055.md`	New documentation file covering BNO055 sensor integration with minimal and full YAML configuration examples, configuration variables (Euler angles, quaternions, linear acceleration, gravity, raw sensor data, temperature), ESP32 I2C considerations, and calibration guidance.

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~10 minutes

Suggested labels

has-parent

🚥 Pre-merge checks | ✅ 3

✅ Passed checks (3 passed)

Check name	Status	Explanation
Title check	✅ Passed	The title accurately and specifically describes the main change: adding documentation for the BNO055 9-DOF sensor component, which matches the raw summary and PR objectives.
Description check	✅ Passed	The description is well-detailed and directly related to the changeset, providing context, configuration details, and a preview of documented sensor categories, all aligned with the documentation addition.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.

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Actionable comments posted: 1

🤖 Fix all issues with AI agents

In `@content/components/sensor/bno055.md`:
- Around line 153-158: Replace the unit text "uT" with the proper microtesla
symbol "µT" for the magnetic field properties in the BNO055 docs: update the
descriptions for mag_x, mag_y, and mag_z so they read "microtesla (µT)" instead
of "microtesla (uT)"; ensure the same change is applied consistently wherever
mag_x, mag_y, or mag_z mention the unit symbol.

coderabbitai · 2026-01-29T08:00:37Z

content/components/sensor/bno055.md

+- **mag_x** (*Optional*): Magnetic field X-axis in microtesla (uT). All options from
+  [Sensor](/components/sensor).
+- **mag_y** (*Optional*): Magnetic field Y-axis in microtesla (uT). All options from
+  [Sensor](/components/sensor).
+- **mag_z** (*Optional*): Magnetic field Z-axis in microtesla (uT). All options from
+  [Sensor](/components/sensor).


⚠️ Potential issue | 🟡 Minor

Use the proper unit symbol for microtesla.

Docs should use µT (microtesla) rather than uT. This is a minor formatting/consistency fix.

✏️ Suggested edit

- **mag_x** (*Optional*): Magnetic field X-axis in microtesla (uT). All options from + **mag_x** (*Optional*): Magnetic field X-axis in microtesla (µT). All options from - **mag_y** (*Optional*): Magnetic field Y-axis in microtesla (uT). All options from + **mag_y** (*Optional*): Magnetic field Y-axis in microtesla (µT). All options from - **mag_z** (*Optional*): Magnetic field Z-axis in microtesla (uT). All options from + **mag_z** (*Optional*): Magnetic field Z-axis in microtesla (µT). All options from

📝 Committable suggestion

‼️ IMPORTANT
Carefully review the code before committing. Ensure that it accurately replaces the highlighted code, contains no missing lines, and has no issues with indentation. Thoroughly test & benchmark the code to ensure it meets the requirements.

Suggested change

- **mag_x** (*Optional*): Magnetic field X-axis in microtesla (uT). All options from

[Sensor](/components/sensor).

- **mag_y** (*Optional*): Magnetic field Y-axis in microtesla (uT). All options from

[Sensor](/components/sensor).

- **mag_z** (*Optional*): Magnetic field Z-axis in microtesla (uT). All options from

[Sensor](/components/sensor).

- **mag_x** (*Optional*): Magnetic field X-axis in microtesla (µT). All options from

[Sensor](/components/sensor).

- **mag_y** (*Optional*): Magnetic field Y-axis in microtesla (µT). All options from

[Sensor](/components/sensor).

- **mag_z** (*Optional*): Magnetic field Z-axis in microtesla (µT). All options from

[Sensor](/components/sensor).

🤖 Prompt for AI Agents

In `@content/components/sensor/bno055.md` around lines 153 - 158, Replace the unit text "uT" with the proper microtesla symbol "µT" for the magnetic field properties in the BNO055 docs: update the descriptions for mag_x, mag_y, and mag_z so they read "microtesla (µT)" instead of "microtesla (uT)"; ensure the same change is applied consistently wherever mag_x, mag_y, or mag_z mention the unit symbol.

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Documentation for the new bno055 component in esphome/esphome#13616. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

- Use 1/1/1 ordered list style per markdownlint rules - Use proper µT symbol for microtesla Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

esphome

As this is a feature matched with a PR in https://github.com/esphome/esphome, please target your PR to the next branch and rebase.

Base branch has been corrected - dismissing previous review.

Stale

esphome bot added current has-parent wrong-base-branch component: bno055 labels Jan 29, 2026

esphome bot previously requested changes Jan 29, 2026

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esphome bot marked this pull request as draft January 29, 2026 07:57

iret33 mentioned this pull request Jan 29, 2026

[bno055] Add BNO055 9-DOF Absolute Orientation Sensor component esphome/esphome#13616

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17 tasks

coderabbitai bot reviewed Jan 29, 2026

View reviewed changes

dependabot bot and others added 3 commits January 29, 2026 11:09

Bump docker/login-action from 3.6.0 to 3.7.0 (esphome#6000)

911ed3f

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

Add BNO055 9-DOF Absolute Orientation Sensor documentation

fe76355

Documentation for the new bno055 component in esphome/esphome#13616. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

Fix markdown lint issues

942485b

- Use 1/1/1 ordered list style per markdownlint rules - Use proper µT symbol for microtesla Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

iret33 force-pushed the add-bno055-docs branch from 6e6e405 to 942485b Compare January 29, 2026 08:09

iret33 changed the base branch from current to next January 29, 2026 08:10

esphome bot previously requested changes Jan 29, 2026

View reviewed changes

esphome bot added the next label Jan 29, 2026

esphome bot removed wrong-base-branch current labels Jan 29, 2026

iret33 marked this pull request as ready for review January 29, 2026 09:55

Merge branch 'next' into add-bno055-docs

08a7f08

esphome bot added component: mpu6050 component: mpu6886 labels Jan 30, 2026

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Add BNO055 9-DOF Absolute Orientation Sensor documentation#6002

Add BNO055 9-DOF Absolute Orientation Sensor documentation#6002
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iret33 commented Jan 29, 2026

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