{"action":"created","issue":{"url":"https://api.github.com/repos/adafruit/Adafruit_BNO055/issues/24","repository_url":"https://api.github.com/repos/adafruit/Adafruit_BNO055","labels_url":"https://api.github.com/repos/adafruit/Adafruit_BNO055/issues/24/labels{/name}","comments_url":"https://api.github.com/repos/adafruit/Adafruit_BNO055/issues/24/comments","events_url":"https://api.github.com/repos/adafruit/Adafruit_BNO055/issues/24/events","html_url":"https://github.com/adafruit/Adafruit_BNO055/pull/24","id":143094124,"number":24,"title":"Use intrinsic rotations in bunny visualization","user":{"login":"PaulStoffregen","id":965463,"avatar_url":"https://avatars.githubusercontent.com/u/965463?v=3","gravatar_id":"","url":"https://api.github.com/users/PaulStoffregen","html_url":"https://github.com/PaulStoffregen","followers_url":"https://api.github.com/users/PaulStoffregen/followers","following_url":"https://api.github.com/users/PaulStoffregen/following{/other_user}","gists_url":"https://api.github.com/users/PaulStoffregen/gists{/gist_id}","starred_url":"https://api.github.com/users/PaulStoffregen/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PaulStoffregen/subscriptions","organizations_url":"https://api.github.com/users/PaulStoffregen/orgs","repos_url":"https://api.github.com/users/PaulStoffregen/repos","events_url":"https://api.github.com/users/PaulStoffregen/events{/privacy}","received_events_url":"https://api.github.com/users/PaulStoffregen/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":6,"created_at":"2016-03-23T22:14:56Z","updated_at":"2016-03-25T11:07:50Z","closed_at":"2016-03-23T22:29:34Z","pull_request":{"url":"https://api.github.com/repos/adafruit/Adafruit_BNO055/pulls/24","html_url":"https://github.com/adafruit/Adafruit_BNO055/pull/24","diff_url":"https://github.com/adafruit/Adafruit_BNO055/pull/24.diff","patch_url":"https://github.com/adafruit/Adafruit_BNO055/pull/24.patch"},"body":"If you run the bunny visualization and watch carefully, things aren't quite right.  Roll & pitch swap every 90 degree of heading change, because the rotations are being done about the fixed screen axes (extrinsic rotation), not the bunny's own axes (intrinsic rotation).\r\n\r\nPut another way, consider if you're on a flight from Seattle to New York.  When the plane begins descent, that's negative pitch.  The same motion, the nose of the plane pointing downwards, doesn't magically become roll when you instead fly from Seattle to Los Angles.  But that's the way this visualizer (and many others like it) are incorrectly displaying roll, pitch and yaw.  This single rotation matrix correctly applies the rotations relative to the aircraft's frame of reference, rather than the ground's reference."},"comment":{"url":"https://api.github.com/repos/adafruit/Adafruit_BNO055/issues/comments/201242280","html_url":"https://github.com/adafruit/Adafruit_BNO055/pull/24#issuecomment-201242280","issue_url":"https://api.github.com/repos/adafruit/Adafruit_BNO055/issues/24","id":201242280,"user":{"login":"microbuilder","id":181073,"avatar_url":"https://avatars.githubusercontent.com/u/181073?v=3","gravatar_id":"","url":"https://api.github.com/users/microbuilder","html_url":"https://github.com/microbuilder","followers_url":"https://api.github.com/users/microbuilder/followers","following_url":"https://api.github.com/users/microbuilder/following{/other_user}","gists_url":"https://api.github.com/users/microbuilder/gists{/gist_id}","starred_url":"https://api.github.com/users/microbuilder/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/microbuilder/subscriptions","organizations_url":"https://api.github.com/users/microbuilder/orgs","repos_url":"https://api.github.com/users/microbuilder/repos","events_url":"https://api.github.com/users/microbuilder/events{/privacy}","received_events_url":"https://api.github.com/users/microbuilder/received_events","type":"User","site_admin":false},"created_at":"2016-03-25T11:07:50Z","updated_at":"2016-03-25T11:07:50Z","body":"Hi Paul, no I think everything is great.  The issue was drift being introduced from the uncalibrated magnetometer and unrelated to the manual rotation matrix update.  Thanks for the pull request!"}}