topic Re: BNO055 How to use Euler angles in MEMS sensors forum
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/47765#M8673
<P>Hello insight,</P>
<P>1: We use Intrinsic rotations. You can test the BNO055 in dd2.0. After giving a pitch angle(around y axis), like 30deg, first, and then give a roll angle(around x axis), like 30 deg, then you can see that the pitch angle stays at 30deg. So we use the axis attached to the device, which is Intrinsic rotations.</P>
<P>2: We use the Tait-Bryan angles. And both z-x-y and z-y-x are OK. You can test it by firstly rotate around z axis for like 30deg, and then rotate around x axis for 30 deg, and then around y axis for 30 deg. You can then see the angles on each axis are staying 30 deg. That's the same with z-y-x. You can try these sequence in rotation matrix to see whether your transformation is correct.</P>
<P>3: For windows solution, the angle around x axis is pitch, and the angle around y axis is roll. You can test this also according to Table 3-13. Because the range of pitch is -180~+180deg, and the range of roll is -90~+90deg. You can rotate the device and check the range.</P>
<P>4: You can simply use the right-hand rule to decide the increase direction.</P>
<P>5: After self-test, when the x axis nose up, the roll angle increases. And when the x axis nose down, the roll angle decreases.</P>Wed, 27 Oct 2021 07:19:18 GMTBSTRobin2021-10-27T07:19:18ZBNO055 How to use Euler angles
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/45085#M8011
<P>Hi all,</P><P>I'm using BNO055 to get Euler angles roll and pitch (angles are less 30 degrees, so not quaternions). After turning on the power of the sensor, I reset sensor and select the IMU mode, no more settings are performed. In the manual, I did not find a detailed description of the use of the Euler angles of this sensor, so I ask you to help with the following questions:</P><P>1) What angle (roll, pitch, heading) which axis corresponds on the image of the default coordinate system (section 3.4 of the manual). <BR />2) What is the default direction of rotation for each axis? The one indicated by the arrows in the image?</P><P><span class="lia-inline-image-display-wrapper lia-image-align-inline" image-alt="2021-08-24--005231.png" style="width: 400px;"><img src="https://community.bosch-sensortec.com/t5/image/serverpage/image-id/10312iC539A0BF8A11EE54/image-size/medium?v=v2&px=400" role="button" title="2021-08-24--005231.png" alt="2021-08-24--005231.png" /></span><BR />3) What is the default Fusion data output format (Android or Windows) on power-up and reset? The manual seems to be a contradiction: in table 4.2 (Register Map Page) the default value 0x80 is specified for the UNIT_SEL register, i.e. ORI_Android_Windows bit is equal to 1. Meanwhile, in item 4.3.60, this bit is set to 0 (after Reset).<BR />4) What is the order of the rotations? And do I need to rotate the axes of rotation when turning?</P>Mon, 23 Aug 2021 22:05:09 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/45085#M8011insight2021-08-23T22:05:09ZRe: BNO055 How to use Euler angles
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/45088#M8012
<P>Hello insight,</P>
<P>If you want to get Euler angles output data, you should use config sensor to fusion mode. Please refer fusion mode chapter in BNO055 data sheet.</P>
<P>1.This is default sensor coordinate system in section 3.4, then you can refer to the black dot to know the sensor coordinates.</P>
<P>2 & 4.Euler angle itself is not described in data sheet.<BR /><A href="https://en.wikipedia.org/wiki/Euler_angles" target="_blank">https://en.wikipedia.org/wiki/Euler_angles</A><BR />Yaw: the Y-axis of the Euler angle vector<BR />Pitch: the x-axis of the Euler angle vector<BR />Roll: the z-axis of the Euler angle vector</P>
<P>3.Default setting is windows orientation. Haven't find contradiction, please refer the following picture from data sheet:</P>
<P><span class="lia-inline-image-display-wrapper lia-image-align-inline" image-alt="BNO055 4.3.60 UNIT_SEL 0x3B.png" style="width: 999px;"><img src="https://community.bosch-sensortec.com/t5/image/serverpage/image-id/10313i699F40D98858F710/image-size/large?v=v2&px=999" role="button" title="BNO055 4.3.60 UNIT_SEL 0x3B.png" alt="BNO055 4.3.60 UNIT_SEL 0x3B.png" /></span></P>Tue, 24 Aug 2021 03:28:54 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/45088#M8012BSTRobin2021-08-24T03:28:54ZRe: BNO055 How to use Euler angles
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/45103#M8016
<P>Hello, BSTRobin,</P><P>Thanks for your reply. I looked at the wikipedia article and got some questions.</P><P>1. There exist two different conventions for the definition of the rotation axes:<BR /><SPAN><STRONG>Intrinsic</STRONG> rotations are elemental rotations that occur about the axes of a coordinate system </SPAN><I>XYZ</I><SPAN> attached to a moving body.<BR /><STRONG>Extrinsic</STRONG> rotations are elemental rotations that occur about the axes of the fixed coordinate system <I>xyz</I>.<BR />What convention is used by <SPAN>BNO055</SPAN>?<BR /></SPAN></P><P><SPAN>2. There exist twelve possible sequences of rotation axes:<BR />Proper Euler angles (z-x-z, x-y-x, y-z-y, z-y-z, x-z-x, y-x-y)<BR />Tait–Bryan angles (x-y-z, y-z-x, z-x-y, x-z-y, z-y-x, y-x-z). <BR /></SPAN><SPAN>What sequence is used by BNO055? Is it z-y′-x″ with intrinsic rotations?</SPAN></P><P>3. Did I mark the pitch / roll / heading angles correctly in the picture? </P><P><span class="lia-inline-image-display-wrapper lia-image-align-inline" image-alt="Копия (1) 2021-08-24--005231.png" style="width: 400px;"><img src="https://community.bosch-sensortec.com/t5/image/serverpage/image-id/10318iD1A80BB7BEE80EA2/image-size/medium?v=v2&px=400" role="button" title="Копия (1) 2021-08-24--005231.png" alt="Копия (1) 2021-08-24--005231.png" /></span></P><P>4. Table 3-13 (Windows format) of the manual says that "turing clockwise increases values" of pitch. "Clockwise" - is it looking against the direction of the corresponding axis?</P><P><span class="lia-inline-image-display-wrapper lia-image-align-inline" image-alt="Копия (1) 2021-08-24--113800.png" style="width: 400px;"><img src="https://community.bosch-sensortec.com/t5/image/serverpage/image-id/10321iA16F3773F1AC85B0/image-size/medium?v=v2&px=400" role="button" title="Копия (1) 2021-08-24--113800.png" alt="Копия (1) 2021-08-24--113800.png" /></span></P><P>5. Table 3-13 says that "Roll increasing with increasing inclination". Is turning clockwise decreasing or increasing the values (using Windows format)?</P><P><span class="lia-inline-image-display-wrapper lia-image-align-inline" image-alt="Копия (2) 2021-08-24--113800.png" style="width: 400px;"><img src="https://community.bosch-sensortec.com/t5/image/serverpage/image-id/10322i8ED71C6E6329C682/image-size/medium?v=v2&px=400" role="button" title="Копия (2) 2021-08-24--113800.png" alt="Копия (2) 2021-08-24--113800.png" /></span></P>Tue, 24 Aug 2021 08:47:53 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/45103#M8016insight2021-08-24T08:47:53ZRe: BNO055 How to use Euler angles
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/47765#M8673
<P>Hello insight,</P>
<P>1: We use Intrinsic rotations. You can test the BNO055 in dd2.0. After giving a pitch angle(around y axis), like 30deg, first, and then give a roll angle(around x axis), like 30 deg, then you can see that the pitch angle stays at 30deg. So we use the axis attached to the device, which is Intrinsic rotations.</P>
<P>2: We use the Tait-Bryan angles. And both z-x-y and z-y-x are OK. You can test it by firstly rotate around z axis for like 30deg, and then rotate around x axis for 30 deg, and then around y axis for 30 deg. You can then see the angles on each axis are staying 30 deg. That's the same with z-y-x. You can try these sequence in rotation matrix to see whether your transformation is correct.</P>
<P>3: For windows solution, the angle around x axis is pitch, and the angle around y axis is roll. You can test this also according to Table 3-13. Because the range of pitch is -180~+180deg, and the range of roll is -90~+90deg. You can rotate the device and check the range.</P>
<P>4: You can simply use the right-hand rule to decide the increase direction.</P>
<P>5: After self-test, when the x axis nose up, the roll angle increases. And when the x axis nose down, the roll angle decreases.</P>Wed, 27 Oct 2021 07:19:18 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/47765#M8673BSTRobin2021-10-27T07:19:18ZRe: BNO055 How to use Euler angles
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/47873#M8690
<P>Hello insight,</P>
<P>Do you have further question?</P>Fri, 29 Oct 2021 01:26:30 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/47873#M8690BSTRobin2021-10-29T01:26:30ZRe: BNO055 How to use Euler angles
https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/47909#M8707
<P>Since there was no further feedback, we close this topic first. You could update feedback in the future if you have.</P>Mon, 01 Nov 2021 02:18:34 GMThttps://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-How-to-use-Euler-angles/m-p/47909#M8707BSTRobin2021-11-01T02:18:34Z