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use this:

t1=2*(orientation.z*orientation.w-orientation.x*orientation.y)

t2=2*pow(orientation.x,2)-1+2*pow(orientation.w,2);

yaw=atan2(t1,t2);

~~use this:~~

t1=2*(orientation.z*orientation.w-orientation.x*orientation.y)

t2=2*pow(orientation.x,2)-1+2*pow(orientation.w,2);

yaw=atan2(t1,t2);

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