Pywayne Ahrs Tools
AHRS quaternion decomposition and roll/pitch compensation utilities. Use when working with pywayne.ahrs.tools module for quaternion to Euler angle decomposition, or compensating orientation to zero pitch and roll using roll-pitch compensation method.
Install
$ agentstack add skill-wangyendt-wayne-skills-ahrs-tools ✓ scanned · ✓ verified, works with Claude Code, Cursor, and more.
Security review
✓ PassedNo issues found. Passed automated security review. · v0.1.0 How review works →
- ✓ Prompt-injection patterns
- ✓ Secret / credential exfiltration
- ✓ Dangerous shell & filesystem operations
- ✓ Untrusted network calls
- ✓ Known-malicious package signatures
What it can access
- ✓ Network access No
- ✓ Filesystem access No
- ✓ Shell / process execution No
- ✓ Environment & secrets No
- ✓ Dynamic code execution No
From automated source analysis of v0.1.0. “Used” means the capability is present in the source — more access means more to trust, not that it’s unsafe.
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Declared compatibility
Compatibility is declared by the source manifest. End-to-end runtime verification is coming, see below.
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Pywayne AHRS Tools
This module provides quaternion-based AHRS (Attitude and Heading Reference System) utilities.
Quick Start
from pywayne.ahrs.tools import quaternion_decompose, quaternion_roll_pitch_compensate
import numpy as np
# Quaternion decomposition
q = np.array([0.70710678, 0, 0, 0.707962]) # w, x, y, z
angle_all, angle_heading, angle_inclination = quaternion_decompose(q)
# Roll/pitch compensation
q_comp = quaternion_roll_pitch_compensate(q)Quaternion Decomposition
from pywayne.ahrs.tools import quaternion_decompose
import numpy as np
# Input quaternion (w, x, y, z)
q = np.array([w, x, y, z])
# Decompose into angles
angle_all, angle_heading, angle_inclination = quaternion_decompose(q)
# angle_all: Rotation angles around all axes (vertical + horizontal)
# angle_heading: Angle around vertical axis (inclination)
# angle_inclination: Angle around horizontal axis (bank)Roll/Pitch Compensation
from pywayne.ahrs.tools import quaternion_roll_pitch_compensate
import numpy as np
# Input quaternion (w, x, y, z)
q = np.array([0.989893, -0.099295, 0.024504, -0.098242])
# Compensate pitch and roll to zero
q_comp = quaternion_roll_pitch_compensate(q)Requirements
numpy- Array operationsqmt- OpenCV's quaternion module for conversions
Notes
- Decomposition returns both angles (in radians) and heading/inclination
angle_allis computed using 2*arccos/abs(quaternion_z)angle_headingusesarctan2(np.abs(quaternion_xy))angle_inclinationuses2*arcsin(np.abs(quaternion_xy))- Roll/pitch compensation sets pitch and roll of q_comp to zero by using inverse rotation
Source & license
This open-source skill is cataloged on AgentStack and links to its original source — we do not rehost the code.
- Author: wangyendt
- Source: wangyendt/wayne-skills
- License: MIT
Install and usage instructions live in the source repository linked above.
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Versions
- v0.1.0 Imported from the upstream source.