We observed a singularity in quaternion angle decomposition upon reaching 90 degree pitch rotations which was causing excess tangling to accumulate in the commutator controller. This PR attempts to solve the issue by using swing-twist decomposition and ensuring quaternion scalar components are positive.
We observed a singularity in quaternion angle decomposition upon reaching 90 degree pitch rotations which was causing excess tangling to accumulate in the commutator controller. This PR attempts to solve the issue by using swing-twist decomposition and ensuring quaternion scalar components are positive.
Fixes #519