• If IMU is gravity aligned, pitch is zero and yaw is unobservable.
  • If IMU is not gravity aligned, pitch is non zero and yaw is observable.

Question: given an input quaternion with non null pitch, how do you extract the observable yaw?

  • $\begingroup$ Your question is not well defined. Do you assume 0 roll? Do you assume orientation is given by yaw, followed by pitch? $\endgroup$ – Itamar Katz Nov 27 '19 at 22:46

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