BNO055 Axes Order

[baqwas]

Hello!

I am new to BNO055. I have a BNO055 mounted vertically with:

• X axes pointing downwards
• Z axes pointing towards observer horizontally
• Y axes pointing towards observer's right

What should be the Axes Order to obtain Euler angles? The default ZYX works well when the sensor is placed horizontal where Z is the heading, Y is the pitch and X is the roll. But unfortunately when I mount the sensor in vertical position (as required by the application), I am unable to obtain usable values.

Pardon my ignorance but in NO_FUSION mode I have tried all 12 combinations and observed that for GYRONLY mode:

• Calibration status is always s0 g0 a0 m0
• All angles never change from zero values despite movement in all coordinate directions

If I do not need accelerometer and magnetometer data and want only gyroscope data shouldn't I use NO_FUSION and GYRONLY? Your advice will help me to use the sensor in the correct intended manner. Thanks.

Kind regards.

[BSTRobin · Accepted solution]

Hello baqwas,

If you want to get Euler angles, suggest you config sensor to IMU or NDOF mode.

[baqwas]

Thanks! Will do as advised. Again thanks to other threads, I've been doing some more reading and definitely will make progress.

Kind regards.