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Fixes eular angle calculation from quaternions #29

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Fixes eular angle calculation from quaternions #29

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19 changes: 10 additions & 9 deletions Libraries/Arduino/src/SparkFunMPU9250-DMP.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -629,16 +629,17 @@ void MPU9250_DMP::computeEulerAngles(bool degrees)

float ysqr = dqy * dqy;
float t0 = -2.0f * (ysqr + dqz * dqz) + 1.0f;
float t1 = +2.0f * (dqx * dqy - dqw * dqz);
float t2 = -2.0f * (dqx * dqz + dqw * dqy);
float t3 = +2.0f * (dqy * dqz - dqw * dqx);
float t1 = +2.0f * (dqw * dqz + dqx * dqy);
float t2 = +2.0f * (dqw * dqy - dqz * dqx);
float t3 = +2.0f * (dqw * dqx + dqy * dqz);
float t4 = -2.0f * (dqx * dqx + ysqr) + 1.0f;

// Keep t2 within range of asin (-1, 1)
t2 = t2 > 1.0f ? 1.0f : t2;
t2 = t2 < -1.0f ? -1.0f : t2;

pitch = asin(t2) * 2;

// Limit t1 to be in range of asin
if (abs(t1) >= 1)
pitch = copysign(M_PI / 2, t1); // use 90 degrees if out of range
else
pitch = asin(t1);

roll = atan2(t3, t4);
yaw = atan2(t1, t0);

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