Datasheet

Datasheet
BMM150 Geomagnetic Sensor
Page 47
BST-BMM150-DS001-01 | Revision 1.0 | April 2013 Bosch Sensortec
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
9.1 Android axes orientation
The Android coordinate system is shown in Figure 22. The origin is in the lower-left corner with
respect to the screen, with the X axis horizontal and pointing right, the Y axis vertical and
pointing up and the Z axis pointing outside the front face of the screen. In this system,
coordinates behind the screen have negative Z values.
Figure 22: Android coordinate system
Attitude terms are defined in the following way (see Figure 23):
 Heading / Azimuth – angle between the magnetic north direction and the Y axis, around
the Z axis (0° to 360°). 0° = North, 90° = East, 180° = South, 270° = West.
 Pitch – rotation around X axis (-180° to 180°), with positive values when the z-axis
moves toward the y-axis.
 Roll – rotation around Y axis (-90° to 90°), with positive values when the x-axis moves
toward the z-axis.
Figure 23: Heading, pitch and roll in Android coordinate frame