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To derive Euler Angles from Quaternions, you need to know (or define) the Sequence in which the angles should be applied. You can only get the Yaw in this context. Take a look at this very nice document. Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors (2006)

Otherwise I'd recommend to make use of a linear algebra library (e.g Eigen). Conversion can be done in one line:

Eigen::Quaterniond orientation(w,x,y,z);
orientation.toRotationMatrix().eulerAngles(0,1,2)

To derive Euler Angles from Quaternions, you need to know (or define) the Sequence in which the angles should be applied. You can only get the Yaw in this context. Take a look at this very nice document. Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors (2006)

Otherwise I'd recommend to make use of a linear algebra library (e.g Eigen). Conversion can be done in one line:

Eigen::Quaterniond orientation(w,x,y,z);
orientation.toRotationMatrix().eulerAngles(0,1,2)

atan2(2xy + 2wz, w*w + x*x - y*y - z*z)

To derive Euler Angles from Quaternions, you need to know (or define) the Sequence in which sequence of rotations around the angles should be applied. coordinate axes. You can only get the Yaw in this context. Take a look at this very nice document. Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors (2006)

Otherwise I'd recommend to make use of a linear algebra library (e.g Eigen). Conversion can be done in one line:

Eigen::Quaterniond orientation(w,x,y,z);
orientation.toRotationMatrix().eulerAngles(0,1,2)

EDIT: I looked at the conversion formulas for all the angle sequences and could not find anything similar to your calculation. Should rather look similar to this (seq: 0,1,2):

atan2(2xy + 2wz, w*w + x*x - y*y - z*z)

compare to Formula (290) in linked document.

To derive Euler Angles from Quaternions, you need to know (or define) the sequence of rotations around Sequence in which the coordinate axes. angles should be applied. You can only get the Yaw in this context. Take a look at this very nice document. Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors (2006)

Otherwise I'd recommend to make use of a linear algebra library (e.g Eigen). Conversion can be done in one line:

Eigen::Quaterniond orientation(w,x,y,z);
orientation.toRotationMatrix().eulerAngles(0,1,2)

EDIT: I looked at the conversion formulas for all the angle sequences and could not find anything similar to your calculation. Should rather look similar to this (seq: 0,1,2):

atan2(2xy + 2wz, w*w + x*x - y*y - z*z)

compare to Formula (290) in linked document.

To derive Euler Angles from Quaternions, you need to know (or define) the Sequence in which sequence of rotations around the angles should be applied. coordinate axes. You can only get the Yaw in this context. Take a look at this very nice document. Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors (2006)

Otherwise I'd recommend to make use of a linear algebra library (e.g Eigen). Conversion can be done in one line:

Eigen::Quaterniond orientation(w,x,y,z);
orientation.toRotationMatrix().eulerAngles(0,1,2)

EDIT: I looked at the conversion formulas for all the angle sequences and could not find anything similar to your calculation. Should rather look similar to this (seq: 0,1,2):

atan2(2xy + 2wz, w*w + x*x - y*y - z*z)

compare to Formula (290) in linked document.

To derive Euler Angles from Quaternions, you need to know (or define) the sequence of rotations around the coordinate axes. You can only get the Yaw in this context. Take a look at this very nice document. Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors (2006)

Otherwise I'd recommend to make use of a linear algebra library (e.g Eigen). Conversion can be done in one line:

Eigen::Quaterniond orientation(w,x,y,z);
orientation.toRotationMatrix().eulerAngles(0,1,2)

EDIT: I looked at the conversion formulas for all the angle sequences and could not find anything similar to your calculation. Should rather look similar to this (seq: 0,1,2):

atan2(2xy + 2wz, w*w + x*x - y*y - z*z)

compare to Formula (290) in linked document.

w*w + x*x - y*y - z*z = 1-2*(y*y+z*z)