diff --git a/examples/Example10-PrintPacket/Example10-PrintPacket.ino b/examples/Example10-PrintPacket/Example10-PrintPacket.ino
index 1a9d786..cbdd4a0 100644
--- a/examples/Example10-PrintPacket/Example10-PrintPacket.ino
+++ b/examples/Example10-PrintPacket/Example10-PrintPacket.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
diff --git a/examples/Example11-AdvancedConfig/Example11-AdvancedConfig.ino b/examples/Example11-AdvancedConfig/Example11-AdvancedConfig.ino
index 26f1d2e..2db3995 100644
--- a/examples/Example11-AdvancedConfig/Example11-AdvancedConfig.ino
+++ b/examples/Example11-AdvancedConfig/Example11-AdvancedConfig.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
@@ -34,7 +34,7 @@ void setup()
 
   //The first argument is the I2C address of the sensor, either 0x4B (default) or 0x4A
   //The second is the I2C port to use. Wire, Wire1, softWire, etc.
-  myIMU.begin(0x4A, Wire1); 
+  myIMU.begin(0x4A, Wire1);
 
   Wire1.setClock(400000); //Increase I2C data rate to 400kHz
 
diff --git a/examples/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino b/examples/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino
index 90b8fd0..0896281 100644
--- a/examples/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino
+++ b/examples/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino
@@ -13,7 +13,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -23,7 +23,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example13-TimeStamp/Example13-TimeStamp.ino b/examples/Example13-TimeStamp/Example13-TimeStamp.ino
index 0d7e4a9..06e8d12 100644
--- a/examples/Example13-TimeStamp/Example13-TimeStamp.ino
+++ b/examples/Example13-TimeStamp/Example13-TimeStamp.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example14-TwoSensors/Example14-TwoSensors.ino b/examples/Example14-TwoSensors/Example14-TwoSensors.ino
index e456289..768f433 100644
--- a/examples/Example14-TwoSensors/Example14-TwoSensors.ino
+++ b/examples/Example14-TwoSensors/Example14-TwoSensors.ino
@@ -17,7 +17,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -28,7 +28,7 @@ BNO080 myIMU2; //Closed I2C ADR jumper - goes to address 0x4A
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example15-RawReadings/Example15-RawReadings.ino b/examples/Example15-RawReadings/Example15-RawReadings.ino
index 48955ef..1d0c0de 100644
--- a/examples/Example15-RawReadings/Example15-RawReadings.ino
+++ b/examples/Example15-RawReadings/Example15-RawReadings.ino
@@ -13,7 +13,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -23,7 +23,7 @@ BNO080 myIMU;
 
 void setup()
 {
-    Serial.begin(9600);
+    Serial.begin(115200);
     Serial.println();
     Serial.println("BNO080 Read Example");
 
@@ -84,4 +84,4 @@ void loop()
 
         Serial.println();
     }
-}
\ No newline at end of file
+}
diff --git a/examples/Example17-EulerAngles/Example17-EulerAngles.ino b/examples/Example17-EulerAngles/Example17-EulerAngles.ino
new file mode 100644
index 0000000..deeba06
--- /dev/null
+++ b/examples/Example17-EulerAngles/Example17-EulerAngles.ino
@@ -0,0 +1,86 @@
+/*
+  Using the BNO080 IMU
+
+  Example : Euler Angles
+  By: Paul Clark
+  Date: April 28th, 2020
+
+  Based on: Example1-RotationVector
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: December 21st, 2017
+  License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).
+
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/14586
+
+  This example shows how to output the Euler angles: roll, pitch and yaw.
+  The yaw (compass heading) is tilt-compensated, which is nice.
+  https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+  https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5#issuecomment-306509440
+
+  It takes about 1ms at 400kHz I2C to read a record from the sensor, but we are polling the sensor continually
+  between updates from the sensor. Use the interrupt pin on the BNO080 breakout to avoid polling.
+
+  Hardware Connections:
+  Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
+  Plug the sensor onto the shield
+  Serial.print it out at 115200 baud to serial monitor.
+*/
+
+#include <Wire.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h"
+BNO080 myIMU;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("BNO080 Read Example");
+
+  Wire.begin();
+
+  //Are you using a ESP? Check this issue for more information: https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/issues/16
+//  //=================================
+//  delay(100); //  Wait for BNO to boot
+//  // Start i2c and BNO080
+//  Wire.flush();   // Reset I2C
+//  IMU.begin(BNO080_DEFAULT_ADDRESS, Wire);
+//  Wire.begin(4, 5);
+//  Wire.setClockStretchLimit(4000);
+//  //=================================
+
+  if (myIMU.begin() == false)
+  {
+    Serial.println(F("BNO080 not detected at default I2C address. Check your jumpers and the hookup guide. Freezing..."));
+    while (1)
+      ;
+  }
+
+  Wire.setClock(400000); //Increase I2C data rate to 400kHz
+
+  myIMU.enableRotationVector(50); //Send data update every 50ms
+
+  Serial.println(F("Rotation vector enabled"));
+  Serial.println(F("Output in form roll, pitch, yaw"));
+}
+
+void loop()
+{
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float roll = (myIMU.getRoll()) * 180.0 / PI; // Convert roll to degrees
+    float pitch = (myIMU.getPitch()) * 180.0 / PI; // Convert pitch to degrees
+    float yaw = (myIMU.getYaw()) * 180.0 / PI; // Convert yaw / heading to degrees
+
+    Serial.print(roll, 1);
+    Serial.print(F(","));
+    Serial.print(pitch, 1);
+    Serial.print(F(","));
+    Serial.print(yaw, 1);
+
+    Serial.println();
+  }
+}
diff --git a/examples/Example2-Accelerometer/Example2-Accelerometer.ino b/examples/Example2-Accelerometer/Example2-Accelerometer.ino
index 2a64c7e..738b321 100644
--- a/examples/Example2-Accelerometer/Example2-Accelerometer.ino
+++ b/examples/Example2-Accelerometer/Example2-Accelerometer.ino
@@ -13,7 +13,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -23,7 +23,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example3-Gyro/Example3-Gyro.ino b/examples/Example3-Gyro/Example3-Gyro.ino
index 2557ab6..420df94 100644
--- a/examples/Example3-Gyro/Example3-Gyro.ino
+++ b/examples/Example3-Gyro/Example3-Gyro.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example4-Magnetometer/Example4-Magnetometer.ino b/examples/Example4-Magnetometer/Example4-Magnetometer.ino
index 3905b7e..64bacac 100644
--- a/examples/Example4-Magnetometer/Example4-Magnetometer.ino
+++ b/examples/Example4-Magnetometer/Example4-Magnetometer.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example5-StepCounter/Example5-StepCounter.ino b/examples/Example5-StepCounter/Example5-StepCounter.ino
index 664f92c..3a83b03 100644
--- a/examples/Example5-StepCounter/Example5-StepCounter.ino
+++ b/examples/Example5-StepCounter/Example5-StepCounter.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example6-MetaData/Example6-MetaData.ino b/examples/Example6-MetaData/Example6-MetaData.ino
index 85b20e4..01e9a29 100644
--- a/examples/Example6-MetaData/Example6-MetaData.ino
+++ b/examples/Example6-MetaData/Example6-MetaData.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Reading Metadata Example");
 
diff --git a/examples/Example7-StabilityClassifier/Example7-StabilityClassifier.ino b/examples/Example7-StabilityClassifier/Example7-StabilityClassifier.ino
index 6803ad9..c02f52c 100644
--- a/examples/Example7-StabilityClassifier/Example7-StabilityClassifier.ino
+++ b/examples/Example7-StabilityClassifier/Example7-StabilityClassifier.ino
@@ -17,7 +17,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -27,7 +27,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
diff --git a/examples/Example8-ActivityClassifier/Example8-ActivityClassifier.ino b/examples/Example8-ActivityClassifier/Example8-ActivityClassifier.ino
index 55c0546..cd45d0a 100644
--- a/examples/Example8-ActivityClassifier/Example8-ActivityClassifier.ino
+++ b/examples/Example8-ActivityClassifier/Example8-ActivityClassifier.ino
@@ -25,7 +25,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -37,7 +37,7 @@ byte activityConfidences[9]; //This array will be filled with the confidence lev
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
@@ -54,7 +54,7 @@ void setup()
 
   //Send data update every 50ms, with sensor specific config word
   //Pass in a pointer to our activityConfidences array as well
-  myIMU.enableActivityClassifier(50, enableActivities, activityConfidences); 
+  myIMU.enableActivityClassifier(50, enableActivities, activityConfidences);
 
   Serial.println(F("Activity Classifier enabled"));
 }
@@ -66,7 +66,7 @@ void loop()
   {
     //getActivityClassifier will modify our activityConfidences array
     //It will return the most likely activity as well.
-    byte mostLikelyActivity = myIMU.getActivityClassifier(); 
+    byte mostLikelyActivity = myIMU.getActivityClassifier();
 
     Serial.print("Most likely activity: ");
     printActivityName(mostLikelyActivity);
diff --git a/examples/Example9-Calibrate/Example9-Calibrate.ino b/examples/Example9-Calibrate/Example9-Calibrate.ino
index 5b671a2..29b5f06 100644
--- a/examples/Example9-Calibrate/Example9-Calibrate.ino
+++ b/examples/Example9-Calibrate/Example9-Calibrate.ino
@@ -16,7 +16,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -26,7 +26,7 @@ BNO080 myIMU;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
@@ -84,7 +84,7 @@ void loop()
       {
         Serial.println("Calibration data failed to store. Please try again.");
       }
-      
+
       //myIMU.endCalibration(); //Turns off all calibration
       //In general, calibration should be left on at all times. The BNO080
       //auto-calibrates and auto-records cal data roughly every 5 minutes
diff --git a/examples/SPI/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino b/examples/SPI/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino
index 104ea07..ac67042 100644
--- a/examples/SPI/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino
+++ b/examples/SPI/Example12-LinearAccelerometer/Example12-LinearAccelerometer.ino
@@ -13,7 +13,7 @@
   Hardware Connections:
   Attach the Qwiic Shield to your Arduino/Photon/ESP32 or other
   Plug the sensor onto the shield
-  Serial.print it out at 9600 baud to serial monitor.
+  Serial.print it out at 115200 baud to serial monitor.
 */
 
 #include <Wire.h>
@@ -29,7 +29,7 @@ byte imuRSTPin = 7;
 
 void setup()
 {
-  Serial.begin(9600);
+  Serial.begin(115200);
   Serial.println();
   Serial.println("BNO080 Read Example");
 
@@ -63,4 +63,3 @@ void loop()
     Serial.println();
   }
 }
-
diff --git a/examples/SPI/Example17-EulerAngles/Example17-EulerAngles.ino b/examples/SPI/Example17-EulerAngles/Example17-EulerAngles.ino
new file mode 100644
index 0000000..251dbe6
--- /dev/null
+++ b/examples/SPI/Example17-EulerAngles/Example17-EulerAngles.ino
@@ -0,0 +1,105 @@
+/*
+  Using the BNO080 IMU
+
+  Example : Euler Angles
+  By: Paul Clark
+  Date: April 28th, 2020
+
+  Based on: Example1-RotationVector
+  By: Nathan Seidle
+  SparkFun Electronics
+  Date: July 27th, 2018
+  License: This code is public domain but you buy me a beer if you use this and we meet someday (Beerware license).
+
+  Feel like supporting our work? Buy a board from SparkFun!
+  https://www.sparkfun.com/products/14686
+
+  This example shows how to output the Euler angles: roll, pitch and yaw.
+  The yaw (compass heading) is tilt-compensated, which is nice.
+  https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+  https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5#issuecomment-306509440
+
+  This example shows how to use the SPI interface on the BNO080. It's fairly involved
+  and requires 7 comm wires (plus 2 power), soldering the PS1 jumper, and clearing
+  the I2C jumper. We recommend using the Qwiic I2C interface, but if you need speed
+  SPI is the way to go.
+
+  Hardware modifications:
+  The PS1 jumper must be closed
+  The PS0 jumper must be open. PS0/WAKE is connected and the WAK pin is used to bring the IC out of sleep.
+  The I2C pull up jumper must be cleared/open
+
+  Hardware Connections:
+  Don't hook the BNO080 to a normal 5V Uno! Either use the Qwiic system or use a
+  microcontroller that runs at 3.3V.
+  Arduino 13 = BNO080 SCK
+  12 = SO
+  11 = SI
+  10 = !CS
+  9 = WAK
+  8 = !INT
+  7 = !RST
+  3.3V = 3V3
+  GND = GND
+*/
+
+#include <SPI.h>
+
+#include "SparkFun_BNO080_Arduino_Library.h"
+BNO080 myIMU;
+
+//These pins can be any GPIO
+byte imuCSPin = 10;
+byte imuWAKPin = 9;
+byte imuINTPin = 8;
+byte imuRSTPin = 7;
+
+void setup()
+{
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println(F("BNO080 SPI Read Example"));
+
+  myIMU.enableDebugging(Serial); //Pipe debug messages to Serial port
+
+  if(myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin) == false)
+  {
+    Serial.println(F("BNO080 over SPI not detected. Are you sure you have all 6 connections? Freezing..."));
+    while(1)
+      ;
+  }
+
+  //You can also call begin with SPI clock speed and SPI port hardware
+  //myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 1000000);
+  //myIMU.beginSPI(imuCSPin, imuWAKPin, imuINTPin, imuRSTPin, 1000000, SPI1);
+
+  //The IMU is now connected over SPI
+  //Please see the other examples for library functions that you can call
+
+  myIMU.enableRotationVector(50); //Send data update every 50ms
+
+  Serial.println(F("Rotation vector enabled"));
+  Serial.println(F("Output in form roll, pitch, yaw"));
+}
+
+void loop()
+{
+  delay(10); //You can do many other things. We spend most of our time printing and delaying.
+
+  //Look for reports from the IMU
+  if (myIMU.dataAvailable() == true)
+  {
+    float roll = (myIMU.getRoll()) * 180.0 / PI; // Convert roll to degrees
+    float pitch = (myIMU.getPitch()) * 180.0 / PI; // Convert pitch to degrees
+    float yaw = (myIMU.getYaw()) * 180.0 / PI; // Convert yaw / heading to degrees
+
+    Serial.print(roll, 1);
+    Serial.print(F(","));
+    Serial.print(pitch, 1);
+    Serial.print(F(","));
+    Serial.print(yaw, 1);
+
+    Serial.println();
+  }
+
+}
diff --git a/keywords.txt b/keywords.txt
index 17b52d8..06e022c 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -1,5 +1,5 @@
 #######################################
-# Syntax Coloring Map 
+# Syntax Coloring Map
 #######################################
 
 #######################################
@@ -115,6 +115,10 @@ getRawMagX	KEYWORD2
 getRawMagY	KEYWORD2
 getRawMagZ	KEYWORD2
 
+getRoll	KEYWORD2
+getPitch	KEYWORD2
+getYaw	KEYWORD2
+
 
 #######################################
 # Constants (LITERAL1)
diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index c706996..04dc99f 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -341,6 +341,82 @@ void BNO080::parseInputReport(void)
 	//TODO additional feature reports may be strung together. Parse them all.
 }
 
+// Quaternion to Euler conversion
+// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+// https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library/issues/5#issuecomment-306509440
+// Return the roll (rotation around the x-axis) in Radians
+float BNO080::getRoll()
+{
+	float dqw = getQuatReal();
+	float dqx = getQuatI();
+	float dqy = getQuatJ();
+	float dqz = getQuatK();
+
+	float norm = sqrt(dqw*dqw + dqx*dqx + dqy*dqy + dqz*dqz);
+	dqw = dqw/norm;
+	dqx = dqx/norm;
+	dqy = dqy/norm;
+	dqz = dqz/norm;
+
+	float ysqr = dqy * dqy;
+
+	// roll (x-axis rotation)
+	float t0 = +2.0 * (dqw * dqx + dqy * dqz);
+	float t1 = +1.0 - 2.0 * (dqx * dqx + ysqr);
+	float roll = atan2(t0, t1);
+
+	return (roll);
+}
+
+// Return the pitch (rotation around the y-axis) in Radians
+float BNO080::getPitch()
+{
+	float dqw = getQuatReal();
+	float dqx = getQuatI();
+	float dqy = getQuatJ();
+	float dqz = getQuatK();
+
+	float norm = sqrt(dqw*dqw + dqx*dqx + dqy*dqy + dqz*dqz);
+	dqw = dqw/norm;
+	dqx = dqx/norm;
+	dqy = dqy/norm;
+	dqz = dqz/norm;
+
+	float ysqr = dqy * dqy;
+
+	// pitch (y-axis rotation)
+	float t2 = +2.0 * (dqw * dqy - dqz * dqx);
+	t2 = t2 > 1.0 ? 1.0 : t2;
+	t2 = t2 < -1.0 ? -1.0 : t2;
+	float pitch = asin(t2);
+
+	return (pitch);
+}
+
+// Return the yaw / heading (rotation around the z-axis) in Radians
+float BNO080::getYaw()
+{
+	float dqw = getQuatReal();
+	float dqx = getQuatI();
+	float dqy = getQuatJ();
+	float dqz = getQuatK();
+
+	float norm = sqrt(dqw*dqw + dqx*dqx + dqy*dqy + dqz*dqz);
+	dqw = dqw/norm;
+	dqx = dqx/norm;
+	dqy = dqy/norm;
+	dqz = dqz/norm;
+
+	float ysqr = dqy * dqy;
+
+	// yaw (z-axis rotation)
+	float t3 = +2.0 * (dqw * dqz + dqx * dqy);
+	float t4 = +1.0 - 2.0 * (ysqr + dqz * dqz);
+	float yaw = atan2(t3, t4);
+
+	return (yaw);
+}
+
 //Return the rotation vector quaternion I
 float BNO080::getQuatI()
 {
diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
index 5627532..2de5306 100644
--- a/src/SparkFun_BNO080_Arduino_Library.h
+++ b/src/SparkFun_BNO080_Arduino_Library.h
@@ -215,6 +215,10 @@ class BNO080
 	int16_t getRawMagY();
 	int16_t getRawMagZ();
 
+	float getRoll();
+	float getPitch();
+	float getYaw();
+
 	void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports);
 	void setFeatureCommand(uint8_t reportID, uint16_t timeBetweenReports, uint32_t specificConfig);
 	void sendCommand(uint8_t command);