Mike McGurrin ViennaMike
berikv
/ heading.py
Last active
May 6, 2018 21:24
— forked from timtrueman/heading.py
- Fix wrap to allow for bigger angles
- Replace the hardcoded declination correction with an argument
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| def wrap(angle): | |
| while angle > 2 * pi: | |
| angle -= 2 * pi | |
| while angle < 0: | |
| angle += 2 * pi | |
| return angle | |
| def magnetometer_readings_to_tilt_compensated_heading(bx, by, bz, phi, theta, declinationRadians=0): | |
| """ Takes in raw magnetometer values, pitch and roll and turns it into a tilt-compensated heading value ranging from -pi to pi (everything in this function should be in radians). | |
| The correct value for declinationRadians can be found online: http://magnetic-declination.com/countries.php note that this value is in radians, not in degrees. |