diff --git a/README.md b/README.md index d447fdb6f83772b96e3f2ffa8d04ec00d9319630..0510d8d6a0e27e0a4de1e7bd879783443dbd0640 100644 --- a/README.md +++ b/README.md @@ -17,7 +17,7 @@ toggle button. - MQTT topic: ``sensors/phone/brightness`` - payload: ``{"brightness":67.0}`` -### Orientation +### Orientation AHRS - Orientation values are in the AHRS (yaw-pitch-roll angles) - [Madwick](http://x-io.co.uk/open-source-imu-and-ahrs-algorithms/) algorithm is used @@ -25,6 +25,13 @@ toggle button. - MQTT topic: ``sensors/phone/rotationahrs`` - payload: ``{"roll":-168.21172,"pitch":22.937801,"heading":28.27002}`` +### Orientation Quaternions + +- Orientation values are in Quaternions + +- MQTT topic: ``sensors/phone/rotation`` +- payload: ``{"z":0.004691912,"x":0.0036029308,"y":-0.015808621}`` + ### Light State - this is a one on/off thing. Message is only send when the toggle button is touched