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Fix quaternion gimbal lock#3538

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vr4guid wants to merge 3 commits intoArduPilot:masterfrom
vr4guid:master
Open

Fix quaternion gimbal lock#3538
vr4guid wants to merge 3 commits intoArduPilot:masterfrom
vr4guid:master

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@vr4guid
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@vr4guid vr4guid commented Jun 2, 2025

fix _dcm_to_euler calculation when pitch is -pi/2
@meee1
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meee1 commented Sep 6, 2025

all my sources indicate it was correct before this change.
@vr4guid
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vr4guid commented Oct 23, 2025

This corrected the issue on our side.
@robertlong13
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robertlong13 commented Oct 26, 2025 •
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This corrected the issue on our side.

How? Isn't this a non-functional change? phi is set to 0 in the previous line. Now, that raises the question of what the - phi and + phi were ever doing in these two places to begin with, but this change can't possibly have done anything, unless I'm gravely mistaken (and I might well be; I keep reading it over and over).
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