Hello, BSTRobin, Thanks for your reply. I looked at the wikipedia article and got some questions. 1. There exist two different conventions for the definition of the rotation axes: Intrinsic rotations are elemental rotations that occur about the axes of a coordinate system XYZ attached to a moving body. Extrinsic rotations are elemental rotations that occur about the axes of the fixed coordinate system xyz. What convention is used by BNO055 ? 2. There exist twelve possible sequences of rotation axes: Proper Euler angles (z-x-z, x-y-x, y-z-y, z-y-z, x-z-x, y-x-y) Tait–Bryan angles (x-y-z, y-z-x, z-x-y, x-z-y, z-y-x, y-x-z). What sequence is used by BNO055? Is it z-y′-x″ with intrinsic rotations? 3. Did I mark the pitch / roll / heading angles correctly in the picture? 4. Table 3-13 (Windows format) of the manual says that "turing clockwise increases values" of pitch. "Clockwise" - is it looking against the direction of the corresponding axis? 5. Table 3-13 says that "Roll increasing with increasing inclination". Is turning clockwise decreasing or increasing the values (using Windows format)?

... View more