Using quaternions causes a lot of issues with correction because they aren't very well behaved and we can't constain them to unit quaternions through the CSM API. Instead we should use standard Euler angles like we do in the other sensors. We can likely re-use much of the code from the other sensors to do this.
Using quaternions causes a lot of issues with correction because they aren't very well behaved and we can't constain them to unit quaternions through the CSM API. Instead we should use standard Euler angles like we do in the other sensors. We can likely re-use much of the code from the other sensors to do this.