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Added quaternions checking to prevent negative sqrt argument in attitudes calculation algorithm #813

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Merged
merged 4 commits into from
Feb 20, 2025
Merged

Added quaternions checking to prevent negative sqrt argument in attitudes calculation algorithm #813

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e3a499f
Added quaternions checking to prevent negative sqrt argument
demvlad Feb 20, 2025
16075d1
Quaternion normalize in case of its module more than 1
demvlad Feb 20, 2025
4c55478
Quaternions checking code improvement
demvlad Feb 20, 2025
893d81b
The math issue is resolved
demvlad Feb 20, 2025
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8 changes: 7 additions & 1 deletion src/flightlog.js
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Expand Up @@ -737,7 +737,13 @@ export function FlightLog(logData) {
z: srcFrame[imuQuaternion[2]] / scaleFromFixedInt16,
w: 1.0,
};
q.w = Math.sqrt(1.0 - (q.x ** 2 + q.y ** 2 + q.z ** 2));

const m = q.x ** 2 + q.y ** 2 + q.z ** 2;
if (m < 1.0) {
q.w = Math.sqrt(1.0 - m);
} else {
q.w = 0.0;
}
const xx = q.x ** 2,
xy = q.x * q.y,
xz = q.x * q.z,
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