Pywayne AHRS Tools

This module provides quaternion-based AHRS (Attitude and Heading Reference System) utilities.

Quick Start

from pywayne.ahrs.tools import quaternion_decompose, quaternion_roll_pitch_compensate
import numpy as np

# Quaternion decomposition
q = np.array([0.70710678, 0, 0, 0.707962])  # w, x, y, z
angle_all, angle_heading, angle_inclination = quaternion_decompose(q)

# Roll/pitch compensation
q_comp = quaternion_roll_pitch_compensate(q)

Quaternion Decomposition