ypr namespace is wrong

[takujin3]

r and y are inverted

[DocSunset]

perhaps slightly off topic, but arguably yaw/pitch/roll is an inappropriate mental model for the T-Stick. It's not an aircraft. We use altitude/azimuth with the mubone, and latitude/longitude are also options. The last rotation (about the long axis of the tube) is less clear to me what you would call it, and for that matter whether you could use it for anything in the first place.

What are these orientation-related features called in older namespaces for the T-Stick? I remember having a patch with "tilt" for the altitude angle.

[malloch]

Older T-Sticks (pre-magnetometer) used instrument/tilt and instrument/roll, both reported in degrees. Once the magnetometer was added we used instrument/orientation/tilt, instrument/orientation/roll, instrument/orientation/heading, and instrument/orientation/quaternion. Everything other than the quaternion was reported in radians, and the driver allows adding an arbitrary offset to the heading signal since most T-Stickists were interested in venue-relative coordinates.