BNO 055 roll pitch yaw from quaternions

[prot]

Hi,

I need help in getting the correct roll/pitch/yaw angles from the quaternions. I am using the BNO055 and so far I managed to do just about everything you can do with the chip. I get correct values for euler angles using the ndof OPR Mode.

I  tried for the last few days to convert the quaternions to roll pitch yaw and I would like to ask someone who has a working/tested algorithm to post it here.

I tried 5 different Methods and they are all giving me faulty values.

Just the math algorithm, I will translate it in code myself.

Thanks

[prot · Accepted solution]

Solved. It can be closed