What is the BNO055 euler angle reference frame?

[Goldmango]

Hi everyone,

I am using bno055 as the IMU 

I use the NDOF sensor fusion mode and get the Euler orientation. the datasheet says in the NDOF sensor fusion mode the IMU outputs absolute orientation.

I am confused about the Euler angle reference frame. 

[FAE_CA1]

Hi,

BNO055 has register AXIS_REMAP_CONFIG with address 0x41. AXIS_REMAP_CONFIG = 0x12 means that you write value of 0x12 to register 0x41 to change BNO055 x/y/z with respect to your device body X/Y/Z. For example, 0x12 = 0x00010010 means that,

BNO055 z axis is aligned to your device body Y axis,

BNO055 y axis is aligned to your device body X axis,

BNO055 x axis is aligned to your device body Z axis.

BNO055 y axis is always pointing to earth magnetic north in NDOF sensor fusion mode. After axis remapping by writing value of 0x12 to register 0x41, your device body X axis will be pointing to earth magnetic north. Please also check register 0x42 for the sign of axis remapping.

Thanks.