# 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.

- **Type:** Skill
- **Install:** `agentstack add skill-wangyendt-wayne-skills-ahrs-tools`
- **Verified:** Yes — security-reviewed for prompt injection and unsafe behavior
- **Seller:** [wangyendt](https://agentstack.voostack.com/s/wangyendt)
- **Installs:** 0
- **Category:** [Agent Skills](https://agentstack.voostack.com/c/agent-skills)
- **Latest version:** 0.1.0
- **License:** MIT
- **Upstream author:** [wangyendt](https://github.com/wangyendt)
- **Source:** https://github.com/wangyendt/wayne-skills/tree/main/pywayne/ahrs/ahrs-tools

## Install

```sh
agentstack add skill-wangyendt-wayne-skills-ahrs-tools
```

Requires the [AgentStack CLI](https://agentstack.voostack.com/docs/cli). Works with Claude Code, Cursor, and any MCP-compatible agent.

## About

# Pywayne AHRS Tools

This module provides quaternion-based AHRS (Attitude and Heading Reference System) utilities.

## Quick Start

```python
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

```python
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

```python
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 operations
- `qmt` - OpenCV's quaternion module for conversions

## Notes

- Decomposition returns both angles (in radians) and heading/inclination
- `angle_all` is computed using 2*arccos/abs(quaternion_z)
- `angle_heading` uses `arctan2(np.abs(quaternion_xy))`
- `angle_inclination` uses `2*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](https://github.com/wangyendt)
- **Source:** [wangyendt/wayne-skills](https://github.com/wangyendt/wayne-skills)
- **License:** MIT

Install and usage instructions live in the source repository linked above.

## Pricing

- **Free** — Free

## Security capabilities

Automated source analysis of v0.1.0 — what this tool can access:

- **Network access:** no
- **Filesystem access:** no
- **Shell / process execution:** no
- **Environment & secrets:** no
- **Dynamic code execution:** no

*"Yes" means the capability is present in the source — more access means more to trust, not that it is unsafe.*


## Versions

- **0.1.0** — security scan: passed — Imported from the upstream source.

## Links

- Listing page: https://agentstack.voostack.com/l/skill-wangyendt-wayne-skills-ahrs-tools
- Seller: https://agentstack.voostack.com/s/wangyendt
- Browse the marketplace: https://agentstack.voostack.com/browse

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