Fix transition fail on tailsitter #15352
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xdwgood
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dagar
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Ground test log : https://logs.px4.io/plot_app?log=fe37c1fa-2c53-48d1-8efa-7487e60b44a6 @sfuhrer I conducted at least 50 tests on the ground and the problem did not appear. Good to merge? 😃 |
Cool! Yes I don't see a reason why not 👍 |
| @@ -262,7 +262,7 @@ void VehicleIMU::Run() | |||
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| // rotate sensor clip counts into vehicle body frame | |||
| const Vector3f clipping{_accel_calibration.getBoardRotation() * | |||
| Vector3f{(float)accel.clip_counter[0], (float)accel.clip_counter[1], (float)accel.clip_counter[2]}}; | |||
| Vector3f{(float)accel.clip_counter[0], (float)accel.clip_counter[1], (float)accel.clip_counter[2]}}; | |||
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@xdwgood it still complains, because of this change here. It's a make format misconfiguration, I actually also have it on my setup. So just revert the changes in here, and see that your PR only touches tailsitter.cpp.
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I tried to restore, but when I commit it, it showed that the check failed... Can you help me submit a change? Thank you
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@sfuhrer thanks for your help ❤️ 😃 |
Describe problem solved by this pull request
To fix: #15037
Describe your solution
ensure input quaternions are exactly normalized because acosf(1.00001) == NaN
Test data / coverage
Test tomorrow
Additional context
@sfuhrer Is my solution the best? Or should we start with
acosffunctions?