timtrueman
/ heading.py
Created
March 5, 2010 08:13
Tilt-compensated heading from magnetometer readings, roll and pitch
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| def wrap(angle): | |
| if angle > pi: | |
| angle -= (2*pi) | |
| if angle < -pi: | |
| angle += (2*pi) | |
| if angle < 0: | |
| angle += 2*pi | |
| return angle | |
| def magnetometer_readings_to_tilt_compensated_heading(bx, by, bz, phi, theta): |
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