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Commit 9cb83a49 authored by Dominik Grzelak's avatar Dominik Grzelak
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readme update for quaternion data

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