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Hello, BSTRobin, Thanks for your reply. We tilted the sensor in different directions, and got the following: 1) The value of the pitch angle increased when we tilted the Y-axis up (i.e. rotated the sensor around the X-axis counterclockwise). This matches the description of the "android" orientation in the manual, page 30 ("turning clockwise decreases values"). But earlier you wrote that "Default setting is windows orientation" (i.e., according to manual, "turning clockwise increases values").  2) The value of the roll angle decreased when we tilted the X-axis up (i.e. rotated the sensor around the Y-axis clockwise).  This doesn't match your post  above that "when the x axis nose up, the roll angle increases". ... View more

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