{"action":"closed","issue":{"url":"https://api.github.com/repos/arduino-libraries/MadgwickAHRS/issues/13","repository_url":"https://api.github.com/repos/arduino-libraries/MadgwickAHRS","labels_url":"https://api.github.com/repos/arduino-libraries/MadgwickAHRS/issues/13/labels{/name}","comments_url":"https://api.github.com/repos/arduino-libraries/MadgwickAHRS/issues/13/comments","events_url":"https://api.github.com/repos/arduino-libraries/MadgwickAHRS/issues/13/events","html_url":"https://github.com/arduino-libraries/MadgwickAHRS/issues/13","id":147199207,"number":13,"title":"Orientation visualizer understanding problem","user":{"login":"vasanthsai","id":8788019,"avatar_url":"https://avatars.githubusercontent.com/u/8788019?v=3","gravatar_id":"","url":"https://api.github.com/users/vasanthsai","html_url":"https://github.com/vasanthsai","followers_url":"https://api.github.com/users/vasanthsai/followers","following_url":"https://api.github.com/users/vasanthsai/following{/other_user}","gists_url":"https://api.github.com/users/vasanthsai/gists{/gist_id}","starred_url":"https://api.github.com/users/vasanthsai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/vasanthsai/subscriptions","organizations_url":"https://api.github.com/users/vasanthsai/orgs","repos_url":"https://api.github.com/users/vasanthsai/repos","events_url":"https://api.github.com/users/vasanthsai/events{/privacy}","received_events_url":"https://api.github.com/users/vasanthsai/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-04-10T06:31:59Z","updated_at":"2016-04-10T15:51:53Z","closed_at":"2016-04-10T15:51:53Z","body":"As you raised a issue here https://github.com/01org/corelibs-arduino101/issues/151 \r\n\r\nand you have corrected the issue using a matrix i.e \r\n\r\n  float c1 = cos(radians(roll));\r\n  float s1 = sin(radians(roll));\r\n  float c2 = cos(radians(pitch));\r\n  float s2 = sin(radians(pitch));\r\n  float c3 = cos(radians(yaw));\r\n  float s3 = sin(radians(yaw));\r\n  applyMatrix( c2*c3, s1*s3+c1*c3*s2, c3*s1*s2-c1*s3, 0,\r\n           -s2, c1*c2, c2*s1, 0,\r\n           c2*s3, c1*s2*s3-c3*s1, c1*c3+s1*s2*s3, 0,\r\n           0, 0, 0, 1);\r\n\r\nCan you please explain the following matrix in terms simple \r\n  rotateY , rotateX, rotateZ functions \r\n\r\nDid you also change anything in madgwick libraries ?\r\n\r\nplease help me to understand the basis of the changes."}}