Phi Calculation

10062016, 05:02 PM
Post: #1




Phi Calculation
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 BRobot 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. 

10102016, 06:42 AM
Post: #2




RE: Phi Calculation
Hi Glenn
We do not know that Jeff Rowberg's library. We just used the regular transformation from quaternion to euler. 

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