Yashar Zamani Harghalani

Important changes to forums and questions

All forums and questions are now archived. To start a new conversation or read the latest updates go to forums.mbed.com.

9 years, 10 months ago.

How to Get Pitch,Roll,Yaw from Quaternion

Hi , Thanks for your guide, I unable to make pitch , Roll , and Yaw parameters form Quaternion. if possible to you send me a part of code that i can make this parameters, I use this code to get Pitch , Roll and Yaw, but it's not true.

q1.getEulerAngles(); Yaw = asin(-2*(q1.v.x*q1.v.z - q1.w*q1.v.y)); Pitch = -asin(2*q1.w*q1.v.y - 2*q1.v.x*q1.v.z); Roll = -atan2(2*q1.v.y*q1.v.z + 2*q1.w*q1.v.x, -(q1.w)*q1.w + q1.v.x*q1.v.x + q1.v.y*q1.v.y - q1.v.z*q1.v.z); debug.printf("$ Yaw = %f,Pitch = %f,Roll = %f #\r\n", Yaw, Pitch, Roll);

Thanks,

Question relating to:

Last updated: 01 Sep 2014
A quick implementation of Quaternion and Vector classes for use with my MPU9150 library MPU9150, Quaternion, vector

1 Answer

Chris Pepper
9 years, 10 months ago.

Not sure what the question is, the Quaternion class supplies the getEulerAngles() method for this purpose, it returns to you a Vector3 containing the 3 axis rotations.

Vector3 euler = q1.getEulerAngles(); 
debug.printf("$ Yaw = %f,Pitch = %f,Roll = %f #\r\n", euler.z, euler.y, euler.x);

The code is all in the header files supplied by the library, the conversion to Euler angles has not been thoroughly tested

Accepted Answer