BHI360 + BMM150 Remap to work on Vertical Z Issue with EULER

[brunohorta2023]

Hello, currently i'm trying  remap de sensors to work on vertical, but I get wrong values in Z when I am using EULER, it's a sensor limitation or i need to do more than set the Remap Matrix?

bhy2_orient_matrix accGyroMatrix = {

.c = {0, 1, 0, 0, 0, 1, 1, 0, 0}};

bhy2_set_orientation_matrix(BHY2_PHYS_SENSOR_ID_ACCELEROMETER, accGyroMatrix, &bhy2Device);

bhy2_set_orientation_matrix(BHY2_PHYS_SENSOR_ID_GYROSCOPE, accGyroMatrix, &bhy2Device);

bhy2_orient_matrix magMatrix = {

.c = {0, 1, 0, 1, 0, -1, 0, 0, 0}};

bhy2_set_orientation_matrix(BHY2_PHYS_SENSOR_ID_MAGNETOMETER, magMatrix, &bhy2Device);

[BSTRobin]

Hi brunohorta2023,

After check it again, mag matrix should be {0,0,1,0,1,0,-1,0,0} for your axis mapping matrix.

[brunohorta2023]

Hello Robin, thanks for the quick reply but  I still have questions about your result for me the third one should be -1 no?

X board  and Z sensor | are parallel and have opposite direction

and

Z board  and X sensor | are parallel and have opposite direction

Your result  {0,0,1,0,1,0,-1,0,0} my result  {0,0,-1,0,1,0,-1,0,0}