Phi Calculation - Printable Version +- JJRobots COMMUNITY ( http://forums.jjrobots.com)+-- Forum: JJrobots ( /forumdisplay.php?fid=1)+--- Forum: B-Robot ( /forumdisplay.php?fid=2)+--- Thread: Phi Calculation ( /showthread.php?tid=1110) |

Phi Calculation - Glenn - 10-06-2016 05:02 PM
Hi All-- I've been experimenting with the MPU6050. I've gotten the MPUTeapot demo to work using Jeff Rowberg's libraries. I am wondering why the formula used for phi in the B-Robot code, calculated from the MPU6050's dmp quaternion values: return (atan2(2 * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z) * RAD2GRAD); produces different results than the phi produced by the MPU6050's dmp: mpu.dmpGetEuler(euler, &q); Aren't these calculated straight from the quaternion values as well? Any thoughts would be appreciated. RE: Phi Calculation - JJrobots JP - 10-10-2016 06:42 AM
Hi Glenn We do not know that Jeff Rowberg's library. We just used the regular transformation from quaternion to euler. |