# Euler angle outputs have discontinuities

I'm streaming Euler angle outputs from 2 MetaMotionR sensors (via iphone6) during a simple 1DOF rotational sinusoidal motion.

The outputs seem to producing discontinuities (I'm assuming from switching quadrants during the rotation motion). The jumps occur in pitch, roll, and yaw - pitch produces jumps to just below 180degrees when fluctuating around 0 degrees, roll (the dominant axis of sinusoidal motion) inverts the portion of the curve that is below -90degrees, and yaw produces jumps around both 7degrees (drops to ~0degrees, then sometimes up to 360degrees, and back up to 7dergrees.

I'm familiar with dealing with discontinuities in IMU data using the unwrap function in matlab, but because all of the jumps are just below pi or 2pi, the function doesn't work. I'm wondering if you have any suggestions or solutions when either collecting (preferred), or processing the data to eliminate these issues.

Thanks!

Kristen

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