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Obtaining quaternions from android sensors ?

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Hello all
Is it possible to obtain quaternion values from android sensors for Simulink, in order to avoid the gimbal locking scenario ?
I understand that there is no Simulink block in android supprt package that is suitable for reading quaternion data.
There are however the orientation and gyroscope blocks.
In the case where quaternion values cannot be read, how can the gimbal lock be avoided ? Using just only the existing sensors in your common android phone (accelerometer, orientation and gyroscope etc.), and the current blocks in the android supprt package ?
Thanks for your time and best regards

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Accepted Answer

Sruthi Yenugula
Sruthi Yenugula on 12 Jun 2019
Check the above example android model, in that orienatation values are being converted to quaternions. But you require Robotic System toolbox to use that function.

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