Yaw initial angle question

[Jason Dellai]

Hello,

I am currently doing an internship in a research laboratory. I would like to use IMU to know the orientation of the hand.

I am currently having problems with the yaw angle. Depending on the algorithm I use I have a different yaw angle at the beginning of my recording (+150° with Madgwick and Fourati // -50° with Complementary filter). I would like to know if it is possible to reset the orientation at the beginning of my recording in order to have a zero yaw, roll and pitch. This will allow me to express the orientation of the hand with respect to an initial reference orientation.

I also have a question about the function
ahrs.utils.metrics.qad
what is the unit of the angular deviation obtained?

[Mario Garcia]

Hi, may I as which version of AHRS do you use? Recenty there have been small changes, and the initial values of some algorithms are among those changes.

And regarding the qad function: It is unitless. Each value of a Quaternion has no unit, and the QAD simply tells us how different among each other are these unitless values.