A specialized Python utility for Attitude and Heading Reference System (AHRS) quaternion decomposition and roll-pitch compensation.
Install & Download
1. ClawHub CLI
The fastest way to install a skill directly from the registry.
npx clawhub@latest install ahrs-tools
2. Manual Installation
Copy the skill folder to one of these locations
~/.openclaw/skills/ <project>/skills/ Priority: Workspace > Local > Bundled
3. Prompt Installation
Copy this prompt to OpenClaw to install it automatically.
Help me install ahrs-tools using Clawhub. If Clawhub is not installed, install it first (npm i -g clawhub).
Prefer to download?
Get the raw skill files in a ZIP archive.
What is Pywayne AHRS Tools?
Pywayne AHRS Tools provides essential mathematical utilities for developers working with 3D orientation and sensor fusion. This library specializes in handling quaternions to extract meaningful Euler-based components and performing compensation routines. By integrating these Openclaw Skills, developers can easily manage Attitude and Heading Reference System (AHRS) data without manually implementing complex trigonometric transformations.
The tool focuses on two primary operations: decomposing quaternions into specific angular components (all-axis, heading, and inclination) and resetting pitch and roll to zero through specialized compensation methods. This ensures high precision in robotics, navigation, and motion-tracking applications.
Pywayne AHRS Tools Use Cases
- Processing raw IMU sensor data into human-readable heading and inclination angles.
- Normalizing drone or robotic orientation by compensating for pitch and roll deviations.
- Developing AHRS algorithms where vertical and horizontal rotation components need to be isolated.
- Simplifying 3D mathematical workflows in Openclaw Skills projects using numpy and qmt.
How Pywayne AHRS Tools Works
- Provide an input quaternion as a NumPy array in the (w, x, y, z) format.
- Invoke the quaternion_decompose function to split the rotation into vertical (heading) and horizontal (inclination) components.
- Apply the quaternion_roll_pitch_compensate function to calculate an inverse rotation that aligns the orientation to a flat horizontal plane.
- Utilize the resulting angles or compensated quaternions within your broader Openclaw Skills navigation logic.
Pywayne AHRS Tools Setup
To use this skill, ensure you have the necessary dependencies installed via pip:
pip install numpy qmt
Then, import the utilities into your Python script:
from pywayne.ahrs.tools import quaternion_decompose, quaternion_roll_pitch_compensate
Pywayne AHRS Tools Data Schema & Taxonomy
The skill utilizes NumPy arrays for all mathematical operations to ensure compatibility with high-performance data pipelines.
| Attribute | Description |
|---|---|
| Input Format | 1D NumPy array [w, x, y, z] |
| angle_all | Rotation angles around all axes (vertical + horizontal) |
| angle_heading | Angle around vertical axis (inclination) computed via arctan2 |
| angle_inclination | Angle around horizontal axis (bank) computed via 2*arcsin |
| q_comp | Resulting quaternion with pitch and roll set to zero |
Pywayne AHRS Tools Advanced Features
- Integration with qmt for high-performance OpenCV-based quaternion conversions.
- Precision decomposition using arccos and arctan2 for robust heading calculation.
- Seamless support for Openclaw Skills data-driven workflows involving 3D orientation.
- Automated roll/pitch compensation using inverse rotation logic to stabilize sensor output.
SKILL.md
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