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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