hi, i want to know something about quarternion transferd from bmf055 bsxlite example .
i want to know the quarternion transferd means the transformation from which coordinate system to which coordinate system,
and I think the transition is from the original body system to the latest body system, right?
BSX lite, rotation vector describes a rotation of the device co-ordinate system to the ENU co-ordinate system in the format of the device co-odinate system as a quaternion vector.
hi，i had the same view before i did a upper computer in matlab.
and i see the angular variation is influenced by the initial position when BMF055 was on.
so it is why i think the quarternion transferd from bmf055 bsxlite example as what i said above.
BSX Lite couldn't ouput absolute orientation, so maybe you mentioned transition from body system to body system, just relative movement.
BSX full version could output absolute orientaiton. The heading value of Euler just like the e-compass, same direction with geomagnetic. The pitch and roll of Euler transfer from body to body system, refer to gravitational force.
You can view the link https://www.bosch-sensortec.com/software-tools/software/sensor-fusion-software/. From the BSXlite_LibraryIntegrationGuideline.pdf, maybe you will learn more about BSX Lite.