pywayne-ahrs-tools

Decompose quaternions into Euler angles and apply roll-pitch compensation.

8|Updated Feb 2, 2026

Search Tags:#compensation #numpy #robotics #orientation #ahrs #quaternions #euler-angles

Ready to run

npx skills add https://github.com/wangyendt/wayne-skills --skill pywayne-ahrs-tools

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: pywayne-ahrs-tools
Source: https://github.com/wangyendt/wayne-skills/tree/main/pywayne/ahrs/ahrs-tools
Command: npx skills add https://github.com/wangyendt/wayne-skills --skill pywayne-ahrs-tools

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

AHRS quaternion utilities help engineers decompose quaternion data into readable Euler angles and apply roll-pitch compensation to stabilize orientation in robotics or navigation projects.

Core Features & Use Cases

Quaternion decomposition into angle_all, angle_heading, angle_inclination for orientation estimation
Roll/pitch compensation to zero pitch and roll for level attitude
Use Case: integrate with pywayne.ahrs.tools module to process sensor data from IMUs for stable navigation

Quick Start

Process a sample quaternion to obtain Euler angles and apply roll-pitch compensation to level orientation.

Frequently Asked Questions about pywayne-ahrs-tools

High-intent search queries and answers about installing and using this skill.

FAQPage Schema

How do I decompose quaternions into Euler angles for robotics orientation?▼

To decompose quaternions into Euler angles for robotics orientation, you can process quaternion data to extract angle_all, angle_heading, and angle_inclination values. This requires numpy for array operations and qmt for quaternion-to-Euler conversions.

What is roll-pitch compensation and when do I need it for IMU stabilization?▼

Roll-pitch compensation is an orientation stabilization technique that zeros pitch and roll to achieve a level attitude. You need it for IMU stabilization in robotics or navigation projects when sensor data must be interpreted and leveled for accurate motion tracking.

Can I use numpy and qmt to process sensor data from IMUs for stable navigation?▼

Yes, you can use numpy and qmt to process sensor data from IMUs for stable navigation. The utilities leverage numpy for array operations and qmt for quaternion-to-Euler conversions, integrating with the pywayne.ahrs.tools module to stabilize orientation.

How do I apply roll-pitch compensation to level orientation from quaternion data?▼

To apply roll-pitch compensation and level orientation from quaternion data, you process the sample quaternion to obtain Euler angles, then apply the compensation to zero pitch and roll. This stabilizes the attitude for applications like motion tracking and navigation.

Does this quaternion decomposition approach support heading and inclination estimation?▼

Yes, this quaternion decomposition approach supports heading and inclination estimation by breaking down orientation data into angle_all, angle_heading, and angle_inclination components. This provides comprehensive orientation estimation for robotics and navigation tasks.

What are the limitations of using Euler angles for orientation stabilization in robotics?▼

A key limitation of using Euler angles for orientation stabilization in robotics is the potential for gimbal lock during multi-axis rotation. However, processing quaternion data first and applying roll-pitch compensation helps mitigate interpretation issues for stable navigation.