Pywayne Ahrs Tools

Provides quaternion decomposition into Euler angles and roll/pitch compensation utilities for AHRS orientation handling with pywayne.ahrs.tools.

Security Scan

Instruction-only helper for quaternion decomposition that requests no credentials or unusual system access and is internally consistent with its stated purpose, though it provides no install/provenance details.

Purpose & Capability

The name/description match the SKILL.md: it documents quaternion decomposition and roll/pitch compensation using pywayne.ahrs.tools. The declared requirements (numpy, qmt) are consistent with numeric/quaternion operations. The skill does not request unrelated capabilities or credentials.

Instruction Scope

SKILL.md contains only local Python usage examples and formulas; it does not instruct the agent to read unrelated files, access environment variables, or transmit data to external endpoints. It stays within the stated domain of AHRS quaternion utilities.

Install Mechanism

No install spec (instruction-only). This is low-risk, but the skill assumes the pywayne package and dependencies (numpy, qmt) are already available in the runtime environment — the skill will not install them or provide provenance for those packages.

Credentials

The skill declares no required environment variables, credentials, or config paths. Nothing requests elevated access or unrelated secrets.

Persistence & Privilege

always is false and model invocation is not disabled (default). The skill does not request persistent/system-wide changes or elevated privileges.

Assessment

This is an instruction-only helper that looks coherent and low-risk: it only shows Python examples for quaternion decomposition and compensation, and doesn't ask for secrets or system access. Before installing/using it, ensure the pywayne package and the dependencies (numpy and the referenced qmt module) are installed from trusted sources and that the functions shown actually exist in your installed pywayne version. Because there is no source URL or homepage, verify provenance of the pywayne/qmt packages you use if you rely on this in production or run agents with sensitive data.

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 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