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)?
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Hi all, I'm using BNO055 to get Euler angles roll and pitch (angles are less 30 degrees, so not quaternions). After turning on the power of the sensor, I reset sensor and select the IMU mode, no more settings are performed. In the manual, I did not find a detailed description of the use of the Euler angles of this sensor, so I ask you to help with the following questions: 1) What angle (roll, pitch, heading) which axis corresponds on the image of the default coordinate system (section 3.4 of the manual). 2) What is the default direction of rotation for each axis? The one indicated by the arrows in the image? 3) What is the default Fusion data output format (Android or Windows) on power-up and reset? The manual seems to be a contradiction: in table 4.2 (Register Map Page) the default value 0x80 is specified for the UNIT_SEL register, i.e. ORI_Android_Windows bit is equal to 1. Meanwhile, in item 4.3.60, this bit is set to 0 (after Reset). 4) What is the order of the rotations? And do I need to rotate the axes of rotation when turning?
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