changed measuring datatype to quanternions and convert them to radials and degrees

code/arduino/Movement-sensor-code/Movement-sensor-code.ino

@@ -14,11 +14,21 @@ void setup() {
 void loop() {
   SensorManager::Rotation rotation = sensorManager.readLoop();
 
-  Serial.print(rotation.x);
+  // Convert quaternion to Euler angles in radians
+  float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
+  float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
+  float yaw = atan2(2.0f * (rotation.w * rotation.k + rotation.i * rotation.j), 1.0f - 2.0f * (rotation.j * rotation.j + rotation.k * rotation.k));
+
+  // Convert to degrees
+  float rollDegrees = roll * 180.0f / PI;
+  float pitchDegrees = pitch * 180.0f / PI;
+  float yawDegrees = yaw * 180.0f / PI;
+
+  Serial.print(roll);
   Serial.print(" ");
-  Serial.print(rotation.y);
+  Serial.print(pitch);
   Serial.print(" ");
-  Serial.print(rotation.z);
+  Serial.print(yaw);
 
   Serial.println();
 }

code/arduino/Movement-sensor-code/SensorManager.cpp

@@ -18,7 +18,7 @@ void SensorManager::sensorSetup() {
 
   Wire.setClock(400000);  //Increase I2C data rate to 400kHz
   myIMU.calibrateAll();   //Turn on cal for Accel, Gyro, and Mag
-  myIMU.enableGameRotationVector(100);
+  myIMU.enableGyroIntegratedRotationVector(100);
   myIMU.enableMagnetometer(100);     //Send data update every 100ms
   myIMU.saveCalibration();           //Saves the current dynamic calibration data (DCD) to memory
   myIMU.requestCalibrationStatus();  //Sends command to get the latest calibration status
@@ -32,19 +32,21 @@ void SensorManager::sensorSetup() {
 
 SensorManager::Rotation SensorManager::readLoop() {
   if (myIMU.dataAvailable() == true) {
-    float x = myIMU.getMagX();
+    float i = myIMU.getQuatI();
-    float y = myIMU.getMagY();
+    float j = myIMU.getQuatJ();
-    float z = myIMU.getMagZ();
+    float k = myIMU.getQuatK();
+    float w = myIMU.getQuatReal();
 
-    Rotation rotation = { x, y, z };
+    Rotation rotation = { i, j, k, w };
     return rotation;
   }
   else {
-    float x = myIMU.getMagX();
+    float i = myIMU.getQuatI();
-    float y = myIMU.getMagY();
+    float j = myIMU.getQuatJ();
-    float z = myIMU.getMagZ();
+    float k = myIMU.getQuatK();
+    float w = myIMU.getQuatReal();
 
-    Rotation rotation = { x, y, z };
+    Rotation rotation = { i, j, k, w };
     return rotation;
   }
 }

code/arduino/Movement-sensor-code/SensorManager.h

@@ -9,9 +9,10 @@ class SensorManager {
     SensorManager();
     void sensorSetup();
     struct Rotation {
-      float x;
+      float i;
-      float y;
+      float j;
-      float z;
+      float k;
+      float w;
     };
     Rotation readLoop();
   private: