Pywayne AHRS Tools This module provides quaternion-based AHRS (Attitude and Heading Reference System) utilities. Quick Start Quaternion Decomposition Roll/Pitch Compensation Requirements - - Array operations - - OpenCV's quaternion module for conversions Notes - Decomposition returns both angles (in radians) and heading/inclination - is computed using 2 arccos/abs(quaternion z) - uses - uses - Roll/pitch compensation sets pitch and roll of q comp to zero by using inverse rotation ---