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- 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. | |
| """ | |
| Xh = bx * cos(theta) + by * sin(phi) * sin(theta) + bz * cos(phi) * sin(theta) | |
| Yh = by * cos(phi) - bz * sin(phi) | |
| return wrap((atan2(-Yh, Xh) + declinationRadians)) |
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The site listed in the comments for finding declination in radians was giving me problems as of May 2018 (it seemed to only show the 1st page of results for each letter of the alphabet). An alternative is https://www.ngdc.noaa.gov/geomag-web/#declination. This will give the declination in degrees and minutes, but then a site like this one (https://www.metric-conversions.org/angle/degrees-to-radians.htm) will do the conversion easily.