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Convert quaternions to yaw degrees. #84

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Convert quaternions to yaw degrees. #84

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12 changes: 11 additions & 1 deletion tellopy/_internal/protocol.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
import datetime
import struct
import math
from io import BytesIO

from . import crc
Expand Down Expand Up @@ -377,7 +378,7 @@ def format_cvs(self):

def format_cvs_header(self):
return (
"mvo.vel_x,mvo.vel_y,mvo.vel_z" +
"mvo.vel_x,mvo.vel_y,mvo.vel_z" +
",mvo.pos_x,mvo.pos_y,mvo.pos_z" +
"")

Expand Down Expand Up @@ -406,6 +407,7 @@ def __init__(self, log = None, data = None):
self.q1 = 0.0
self.q2 = 0.0
self.q3 = 0.0
self.yaw = 0.0
self.vg_x = 0.0
self.vg_y = 0.0
self.vg_z = 0.0
Expand Down Expand Up @@ -436,11 +438,19 @@ def format_cvs_header(self):
",imu.vg_x,imu.vg_y,imu.vg_z" +
"")

def quaternion_to_yaw_degree(self, qw, qx, qy, qz):
degree = math.pi / 180.0
sin_y = 2.0 * (qw * qz + qx * qy)
cos_y = 1.0 - 2 * (qy * qy + qz * qz)
yaw = round(math.atan2(sin_y, cos_y) / degree, 2)
return yaw

def update(self, data, count = 0):
self.log.debug('LogImuAtti: length=%d %s' % (len(data), byte_to_hexstring(data)))
self.count = count
(self.acc_x, self.acc_y, self.acc_z) = struct.unpack_from('fff', data, 20)
(self.gyro_x, self.gyro_y, self.gyro_z) = struct.unpack_from('fff', data, 32)
(self.q0, self.q1, self.q2, self.q3) = struct.unpack_from('ffff', data, 48)
(self.vg_x, self.vg_y, self.vg_z) = struct.unpack_from('fff', data, 76)
self.yaw = self.quaternion_to_yaw_degree(self.q0, self.q1, self.q2, self.q3)
self.log.debug('LogImuAtti: ' + str(self))