Pitch and yaw reversed in Visualizer

[descampsa]

I noticed a minor issue in the visualizer example : the pitch and yaw angles are reversed.
When i rotate the board in one direction along one of these axes, the visualization rotate in the opposite direction.

[PaulStoffregen]

Are you using the visualizer that comes with this library, or the buggy one from Arduino's website?

arduino/ArduinoCore-arc32#151

[descampsa]

I am using the visualizer that comes with the library, and the last git revision.

[mjs513]

Hi Paul. Know you are busy but have a really quick question. @hanyazou (author of the BMI160 lib) gave me code for using the BMI160 FIFO. Had trouble at first but finally got it working with his help. So I incorporated into the visualizer code and works fairly well but having problems with orientation in the Processing visualizer. Don't want to say exactly until I can make sure its not just me. Can you tell me where the transformation matrix came from that is in the code? Looking at a RPY rotation matrix and trying to align it with the matrix I have seen.

Thanks
Mike