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Is Pywayne Ahrs Tools free to use?

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Who published Pywayne Ahrs Tools?

modbender (@modbender) published this skill. Their other Agent Skills are listed on their SkillMD profile.

Pywayne Ahrs Tools by modbender — Agent Skill

Name: Pywayne Ahrs Tools
Rating: 4.2 (5 reviews)
Author: modbender

Pywayne Ahrs Tools

AHRS quaternion decomposition and roll/pitch compensation utilities. Use when working with pywayne.ahrs.tools module for quaternion to Euler angle decomposition, or compensating orientation to zero pitch and roll using roll-pitch compensation method.

modbender Updated Sep 9, 2026 12 repo stars

File contents

Pywayne AHRS Tools

This module provides quaternion-based AHRS (Attitude and Heading Reference System) utilities.

Quick Start

from pywayne.ahrs.tools import quaternion_decompose, quaternion_roll_pitch_compensate
import numpy as np

# Quaternion decomposition
q = np.array([0.70710678, 0, 0, 0.707962])  # w, x, y, z
angle_all, angle_heading, angle_inclination = quaternion_decompose(q)

# Roll/pitch compensation
q_comp = quaternion_roll_pitch_compensate(q)

Quaternion Decomposition

from pywayne.ahrs.tools import quaternion_decompose
import numpy as np

# Input quaternion (w, x, y, z)
q = np.array([w, x, y, z])

# Decompose into angles
angle_all, angle_heading, angle_inclination = quaternion_decompose(q)

# angle_all: Rotation angles around all axes (vertical + horizontal)
# angle_heading: Angle around vertical axis (inclination)
# angle_inclination: Angle around horizontal axis (bank)

Roll/Pitch Compensation

from pywayne.ahrs.tools import quaternion_roll_pitch_compensate
import numpy as np

# Input quaternion (w, x, y, z)
q = np.array([0.989893, -0.099295, 0.024504, -0.098242])

# Compensate pitch and roll to zero
q_comp = quaternion_roll_pitch_compensate(q)

Requirements

numpy - Array operations
qmt - OpenCV's quaternion module for conversions

Notes

Decomposition returns both angles (in radians) and heading/inclination
angle_all is computed using 2*arccos/abs(quaternion_z)
angle_heading uses arctan2(np.abs(quaternion_xy))
angle_inclination uses 2*arcsin(np.abs(quaternion_xy))
Roll/pitch compensation sets pitch and roll of q_comp to zero by using inverse rotation

---name: pywayne-ahrs-toolsdescription: AHRS quaternion decomposition and roll/pitch compensation utilities. Use when working with pywayne.ahrs.tools module for quaternion to Euler angle decomposition, or compensating orientation to zero pitch and roll using roll-pitch compensation method.--- # Pywayne AHRS Tools This module provides quaternion-based AHRS (Attitude and Heading Reference System) utilities. ## Quick Start ```python from pywayne.ahrs.tools import quaternion_decompose, quaternion_roll_pitch_compensate import numpy as np # Quaternion decomposition q = np.array([0.70710678, 0, 0, 0.707962]) # w, x, y, z angle_all, angle_heading, angle_inclination = quaternion_decompose(q) # Roll/pitch compensation q_comp = quaternion_roll_pitch_compensate(q) ``` ## Quaternion Decomposition ```python from pywayne.ahrs.tools import quaternion_decompose import numpy as np # Input quaternion (w, x, y, z) q = np.array([w, x, y, z]) # Decompose into angles angle_all, angle_heading, angle_inclination = quaternion_decompose(q) # angle_all: Rotation angles around all axes (vertical + horizontal) # angle_heading: Angle around vertical axis (inclination) # angle_inclination: Angle around horizontal axis (bank) ``` ## Roll/Pitch Compensation ```python from pywayne.ahrs.tools import quaternion_roll_pitch_compensate import numpy as np # Input quaternion (w, x, y, z) q = np.array([0.989893, -0.099295, 0.024504, -0.098242]) # Compensate pitch and roll to zero q_comp = quaternion_roll_pitch_compensate(q) ``` ## Requirements - `numpy` - Array operations - `qmt` - OpenCV's quaternion module for conversions ## Notes - Decomposition returns both angles (in radians) and heading/inclination - `angle_all` is computed using 2*arccos/abs(quaternion_z) - `angle_heading` uses `arctan2(np.abs(quaternion_xy))` - `angle_inclination` uses `2*arcsin(np.abs(quaternion_xy))` - Roll/pitch compensation sets pitch and roll of q_comp to zero by using inverse rotation

Frequently asked questions