About GMarco_Utech12

Hi, I have a problem with the BNO80 sensor to obtain yaw, pitch and roll. With this buffer 'cargo': 0x17 0x80 0x03 0xAF 0xFB 0x19 0x00 0x00 0x00 0x05 0x0B 0x00 0x00 0xC6 0xFE 0xB0 0x01 0x29 0x3A 0xA2 0x1A 0x44 0x32 I have obtain this results: I processing the cargo buffer to obtain the quaternions : q1 = ( ( ( int16_t ) cargo [ 14 ] << 8 ) | cargo [ 13 ] ) ; q2 = ( ( ( int16_t ) cargo [ 16 ] << 8 ) | cargo [ 15 ] ) ; q3 = ( ( ( int16_t ) cargo [ 18 ] << 8 ) | cargo [ 17 ] ) ; q0 = ( ( ( int16_t ) cargo [ 20 ] << 8 ) | cargo [ 19 ] ) ; #define QP14 0.0000610352f q0 *= QP14 ; q1 *= QP14 ; q2 *= QP14 ; q3 *= QP14 ; Results: q1 = 3.9808 q2 = 0.0263 q3 = 0.9087 q0 = 0.4161 To obtain yaw, pitch and roll i have applied this conversions : tmp_yaw = atan2 ( ( q1 * q2 + q0 * q3 ) , ( ( q0 * q0 + q1 * q1 ) - 0.5f ) ) ; tmp_pitch = -asin ( 2.0f * ( q1 * q3 - q0 * q2 ) ) ; tmp_roll = atan2 ( ( q0 * q1 + q2 * q3 ) , ( ( q0 * q0 + q3 * q3 ) - 0.5f ) ) ; Results: tmp_yaw = 0.0311 tmp_pitch = 0 tmp_roll = 1.2821 I have convert this variables in degrees: pitch = tmp_pitch * ( 180.0 / M_PI ) ; yaw = tmp_yaw * ( 180.0 / M_PI ) ; roll = tmp_roll * ( 180.0 / M_PI ) ; Results: pitch = 0 yaw = 1.78 roll = 73.46 These results are in degrees, it are not real because the BNO080 sensor is stopped. Where is the problem ? It's urgent ! Thanks you! Regards, ... View more