Merge pull request #88 from nasbotond/patch-1

Update documentation
Mayitzin · Dec 4, 2022 · e22a24e · e22a24e
2 parents 9e02c5d + 3a93b80
commit e22a24e
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/ahrs/filters/complementary.py b/ahrs/filters/complementary.py
@@ -38,11 +38,11 @@
 
 .. math::
     \\begin{array}{rcl}
-    \\theta &=& \\mathrm{arctan2}(a_y, a_z) \\\\
-    \\phi &=& \\mathrm{arctan2}\\big(-a_x, \\sqrt{a_y^2+a_z^2}\\big)
+    \\phi &=& \\mathrm{arctan2}(a_y, a_z) \\\\
+    \\theta &=& \\mathrm{arctan2}\\big(-a_x, \\sqrt{a_y^2+a_z^2}\\big)
     \\end{array}
 
-Only the pitch, :math:`\\phi`, and roll, :math:`\\theta`, angles are computed,
+Only the pitch, :math:`\\theta`, and roll, :math:`\\phi`, angles are computed,
 leaving the yaw angle, :math:`\\psi` equal to zero.
 
 If a magnetometer sample is available, the yaw angle can be computed. First