About panos_mav

I am using the BNO055 in order to visualize the orientation of a hand in 3d space. My goal is to visualize the orientation in all the 3 axis (heading, roll, pitch), and for that I am using the Quaternion data provided by the sensor, in order to avoid the singularities associated with the Euler angles. However, I am still encountering some problems: when the roll value reaches the 90 degrees, I notice an increase in the pitch value. I assume that this problem can be solved with the addition of some code that handles specific cases that produce singularities, but until now I was not able to find a solution. Please advise. Here is the code I use (Wikipedia) to get the Quaternion data and convert them to Euler angles. (https://en.wikipedia.org/wiki/Conversio ... ler_angles) I have tried to add the code from here (http://www.euclideanspace.com/maths/geo ... onToEuler/) in order to handle the singularities but it did not seem to work. double x = QUA_DATA_X_BNO055();         double y = QUA_DATA_Y_BNO055();         double z = QUA_DATA_Z_BNO055();         double w = QUA_DATA_W_BNO055();         double d = sqrt((pow(x,2))+(pow(y,2))+(pow(z,2))+(pow(w,2)));         double yn = y / d;         double xn = x / d;         double zn = z / d;         double wn = w / d;                 float temp = xn;         xn = - zn;         zn = temp;         yn = -yn;                 double sqw = wn*wn;         double sqx = xn*xn;         double sqy = yn*yn;         double sqz = zn*zn;                 //Source Wikipedia         // roll (x-axis rotation)         double sinr_cosp = 2.0 * (wn * xn + yn * zn);         double cosr_cosp = 1.0 - 2.0 * (xn * xn + yn * yn);         double roll = atan2(sinr_cosp, cosr_cosp);         roll = roll * 180.0/3.14;                 //pitch (y-axis rotation)         double sinp = 2.0 * (wn * yn - zn * xn);         if (sinp >= 1.0)             pitch = 3.14 / 2.0; // use 90 degrees if out of range         else if(sinp <= -1.0)             pitch = -3.14 / 2.0;         else             pitch = asin(sinp);         pitch = pitch * 180.0/3.14;                 // yaw (z-axis rotation)         double siny_cosp = 2.0 * (wn * zn + xn * yn);         double cosy_cosp = 1.0 - 2.0 * (yn * yn + zn * zn);         double heading = atan2(siny_cosp, cosy_cosp);         heading = heading * 180.0/3.14; ... View more