topic Calculation of roll, pitch and yaw angles in Sensors

Calculation of roll, pitch and yaw angles

shrijan00 — Tue, 03 Feb 2026 21:18:05 GMT

I have an IMU FXOS8700CQR1 which has an accelerometer and magnetometer. I'm trying to calculate roll, pitch from the accelerometer and yaw from the magnetometer.

roll = atan2(-accelerometer[1],accelerometer[2]);

pitch = atan2(accelerometer[0],sqrt(accelerometer[1]*accelerometer[1]+(accelerometer[2]*accelerometer[2])));

magx = magnetometer[0]*cos(pitch)+magnetometer[1]*sin(roll)*sin(pitch) + magnetometer[2]*sin(pitch)*cos(roll);

magy = -magnetometer[1]*cos(roll) + magnetometer[2]*sin(roll);

yaw = atan2(-magy,magx)*180/M_PI;

I'm getting incorrect yaw data but I'm not sure about the equations which I found on the internet. Does anybody have any idea in this regard?

Thanks!

Re: Calculation of roll, pitch and yaw angles

reyes — Mon, 28 Oct 2019 17:28:40 GMT

Hi,

Equation 22 of the application note AN4248 may help you for this task: https://cache.freescale.com/files/sensors/doc/app_note/AN4248.pdf

However, if your system need the yaw, pitch and roll calculations, I would recommend you to use the FXAS21002 gyroscope sensor instead: https://www.nxp.com/docs/en/data-sheet/FXAS21002.pdf

Regards,

Jose

Re: Calculation of roll, pitch and yaw angles

JimmyXelectroN — Thu, 10 Dec 2020 02:29:37 GMT

Um, how would you go about calculating the yaw angle with only a gyroscope. I have an MPU6050 6-axis accelerometer and gyroscope and I have been unsuccessfully trying to calculate yaw angle.

Re: Calculation of roll, pitch and yaw angles

Hari123pass123 — Thu, 06 Jul 2023 08:51:31 GMT

I have an mpu6050 which has an accelerometer and gyroscop . I'm trying to calculate roll, pitch from the accelerometer and yaw from the sensor I'm getting incorrect yaw data please help to me