/**
* Returns the yaw pitch and roll angles, respectively defined as the angles in degrees between
* the Earth North and the IMU X axis (yaw), the Earth ground plane and the IMU X axis (pitch)
* and the Earth ground plane and the IMU Y axis.
*
* @note This is not an Euler representation: the rotations aren't consecutive rotations but only
* angles from Earth and the IMU. For Euler representation Yaw, Pitch and Roll see FreeIMU::getEuler
*
* @param ypr three floats array which will be populated by Yaw, Pitch and Roll angles in degrees
*/
void FreeIMU::getYawPitchRoll(float * ypr) {
getYawPitchRollRad(ypr);
arr3_rad_to_deg(ypr);
}
/**
* Returns the yaw pitch and roll angles, respectively defined as the angles in degrees between
* the Earth North and the IMU X axis (yaw), the Earth ground plane and the IMU X axis (pitch)
* and the Earth ground plane and the IMU Y axis.
*
* @note This is not an Euler representation: the rotations aren't consecutive rotations but only
* angles from Earth and the IMU. For Euler representation Yaw, Pitch and Roll see FreeIMU1::getEuler
*
* @param ypr three doubles array which will be populated by Yaw, Pitch and Roll angles in degrees
*/
void FreeIMU1::getYawPitchRoll(double * ypr) {
getYawPitchRollRad(ypr);
arr3_rad_to_deg(ypr);
}
/**
* Returns the Euler angles in degrees defined with the Aerospace sequence.
* See Sebastian O.H. Madwick report "An efficient orientation filter for
* inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
*
* @param angles three floats array which will be populated by the Euler angles in degrees
*/
void FreeIMU::getEuler(float * angles) {
getEulerRad(angles);
arr3_rad_to_deg(angles);
}
/**
* Returns the Euler angles in degrees defined with the Aerospace sequence.
* See Sebastian O.H. Madwick report "An efficient orientation filter for
* inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
*
* @param angles three doubles array which will be populated by the Euler angles in degrees
*/
void FreeIMU1::getEuler(double * angles) {
getEulerRad(angles);
arr3_rad_to_deg(angles);
}
