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  • please give me a logic behind you thought.... I have 3 rotations e.g. step 1: create quaternions from axes step 2: ....... Commented Mar 16, 2013 at 2:16
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    @user1070700: Your problem is step 1. Actually, your problem is step 0. You do not have 3 rotations; you have an orientation. As long as you think of your orientation as "3 rotations", you will continue to have this problem. Commented Mar 16, 2013 at 2:22
  • ok i am open minded and am all ears... But as step 0 is that gyroscope is sending me 3 rotations... Tell me how to manage them to make the proper rotation using quaternions Commented Mar 16, 2013 at 2:27
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    @ribben: Your problem doesn't seem very clearly specified. A piece of hardware, a gyroscope, is sending you this data. Is the problem the order you're doing the rotations in? Does the hardware not tell you the order to do them in? Are you adjusting the angles later, or is this gyroscope sending you data every frame? Commented Mar 16, 2013 at 2:47
  • there is a hardware gyroscope from which through serialport and a microprocessor i get three radial speeds (degrees/sec) then at a sample rate 60Hz through integration i transform these values to angles (degrees). The problem here is that the gyroscope it may do a 180 degree at y axis and then rotate only at z or x and cause of multiplication of matrixes (my first approach) this wouldn't show the correct rotation. Thats why i wanted to use quaternion to get rid of multiplication and gimbal lock... Once again thanks for your help! Commented Mar 16, 2013 at 2:57