From 9cb83a493a50e8c3d15e12c85ffda949c32eb51b Mon Sep 17 00:00:00 2001
From: Dominik Grzelak <dominik.grzelak@tu-dresden.de>
Date: Tue, 24 Jul 2018 11:00:11 +0200
Subject: [PATCH] readme update for quaternion data
---
README.md | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/README.md b/README.md
index d447fdb..0510d8d 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
--
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