Data Sheet

October 2017 BNO080 Datasheet 1000-3927
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Figure 4-2: BNO080 mounted in a device
This rotation would be represented by a quaternion of (


,0,0,


).
Assume that for the device the BNO080 is mounted in, the Z-axis is Up, the X-axis is East and the Y-axis is North.
Examples of mappings for BNO080 mounting are provided below to clarify the use of the FRS record:
BNO080 physical axis aligned
Mapping quaternion
X
Y
Z
Qw
Qx
Qy
Qz
East
North
Up
1
0
0
0
North
West
Up

0
0

West
South
Up
0
0
0
1
South
East
Up

0
0

East
South
Down
0
0
-1
0
North
East
Down
0
-
-
0
West
North
Down
0
-1
0
0
South
West
Down
0
-

0
Up
South
East
0
0


North
Up
East
1/2
-1/2
-1/2
1/2
Down
North
East

-
0
0
South
Down
East
1/2
-1/2
1/2
-1/2
Up
North
West
-
-
0
0
North
Down
West
-1/2
-1/2
-1/2
-1/2
Down
South
West
0
0


South
Up
West
1/2
1/2
-1/2
-1/2
Up
East
North
-1/2
-1/2
-1/2
1/2
West
Up
North
0

0

Down
West
North
1/2
-1/2
1/2
1/2
East
Down
North
-
0

0
Up
West
South
1/2
1/2
-1/2
1/2
West
Down
South
0

0

Down
East
South
1/2
-1/2
-1/2
-1/2
East
Up
South

0

0
Figure 4-3: Multiple 90 degree rotations