Method computeAngles

src/SensorFusion.cpp:71–77

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void SF::computeAngles()
{
	roll = atan2f(q0*q1 + q2*q3, 0.5f - q1*q1 - q2*q2);
	pitch = asinf(-2.0f * (q1*q3 - q0*q2));
	yaw = atan2f(q1*q2 + q0*q3, 0.5f - q2*q2 - q3*q3);
	anglesComputed = 1;
}