Tilt-compensated heading from magnetometer readings, roll and pitch
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|if angle > pi:|
|angle -= (2*pi)|
|if angle < -pi:|
|angle += (2*pi)|
|if angle < 0:|
|angle += 2*pi|
|def magnetometer_readings_to_tilt_compensated_heading(bx, by, bz, phi, theta):|
|""" 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). """|
|variation = 4.528986*(pi/180) # magnetic variation for Corpus Christi, should match your bx/by/bz and where they were measured from (a lookup table is beyond the scope of this gist)|
|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) + variation))|
Aug 13, 2014
It looks like in this case, phi = roll and theta = pitch. I thought in Euler angles that psi was usually roll instead of phi.
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Thank you for sharing your code.
Could you please explain what should be phi and theta (sorry I'm not so familiar with Math) ?