[FW Att ctrl] FW: Add quaternion-based attitude controller#26259
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[FW Att ctrl] FW: Add quaternion-based attitude controller#26259
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This parameter is to be removed, and should, if desired, be replaced with angle based scheduling (as foreseen in the code).
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Solved Problem
The goal is to provide a better alternative to the Euler-angle error attitude controller for fixed-wing. This is very important near high pitch angles to prevent gimbal-lock.
Solution
This PR introduces a quaternion-based attitude controller for fixed-wing attitude control. The new controller computes attitude error using the shortest-rotation quaternion error, avoids Euler singularities/wrap issues, and optionally applies tilt-priority shaping.
Changelog Entry
For release notes:
Test coverage
SITL tests:
Doing a barrel roll (Not possible currently without hacks)
Doing a looping (Not possible currently without hacks)
Flying straight up (Also possible currently, but bad edge casing handling)
HW tests
will follow
Notes
This is still very much a work-in-progress PR. However, feel free to drop any feedback or comments to improve this endevour.