From f0d1a2143db77529c3cdc8f9f27ddbf2e58f8717 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Thu, 2 May 2024 12:07:57 +0200
Subject: [PATCH 1/6] [SkyQuaternion] Implemented quat2stepperAngles method

Method to convert quaternions to euler angles assuming that the roll stays close to 0. This applies to systems with 2 DoFs (yaw and pitch).
---
 .../utils/SkyQuaternion/SkyQuaternion.cpp     | 40 +++++++++++++++++++
 .../utils/SkyQuaternion/SkyQuaternion.h       | 12 ++++++
 2 files changed, 52 insertions(+)

diff --git a/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
index bdae72473..b045f411c 100644
--- a/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
+++ b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
@@ -24,6 +24,8 @@
 
 #include <utils/Constants.h>
 
+#include <cmath>
+
 #include "iostream"
 
 using namespace std;
@@ -82,6 +84,44 @@ Vector3f quat2eul(const Vector4f& quat)
     return Vector3f(roll, pitch, yaw) * Constants::RADIANS_TO_DEGREES;
 }
 
+Vector3f quat2stepperAngles(const Vector4f& q)
+{
+    float qx = q[0];
+    float qy = q[1];
+    float qz = q[2];
+    float qw = q[3];
+
+    Vector3f angles;
+    Matrix3f R;
+
+    // clang-format off
+    //           DOWN                  EAST                    NORD
+    R << (2*(qw*qw + qx*qx)-1), -2*(qx*qy - qw*qz),     -2*(qx*qz + qw*qy),
+          2*(qx*qy + qw*qz),    -(2*(qw*qw + qy*qy)-1), -2*(qy*qz - qw*qx),
+          2*(qx*qz - qw*qy),    -2*(qy*qz + qw*qx),     -(2*(qw*qw + qz*qz)-1);
+    // clang-format on
+
+    // pitch: rotation of motor2 (how the Down-axis move on DN-fixed plane)
+    angles[1] = std::atan2(R(2, 0), R(0, 0)) * 180.0f / Constants::PI;
+
+    // yaw: rotation of motor1 (rotation angle of East-body-versor from
+    // East-fixed-versor seen from Down-body-versor )
+    Vector3f n = R.col(0);  // observing vector: normal to
+                            // East-body-vector and East-fixed-versor
+
+    Vector3f e = R.col(1);
+    Vector3f temp(0, 1, 0);
+
+    Vector3f x = temp.transpose().cross(e);
+
+    float sign = ((x.dot(n) > 0) ? 1.f : (x.dot(n) < 0) ? -1.f : 0.f);
+    float c    = sign * x.norm();
+    angles[0]  = -std::atan2(c, temp.dot(e)) * 180.0f / Constants::PI;
+
+    angles[2] = 0;  // Roll assumed 0
+    return angles;
+}
+
 Vector4f rotationMatrix2quat(const Matrix3f& rtm)
 {
     float r11 = rtm(0, 0);
diff --git a/src/shared/utils/SkyQuaternion/SkyQuaternion.h b/src/shared/utils/SkyQuaternion/SkyQuaternion.h
index 884f1db3b..70d17f6e2 100644
--- a/src/shared/utils/SkyQuaternion/SkyQuaternion.h
+++ b/src/shared/utils/SkyQuaternion/SkyQuaternion.h
@@ -51,6 +51,18 @@ Eigen::Vector4f eul2quat(const Eigen::Vector3f& euler);
  */
 Eigen::Vector3f quat2eul(const Eigen::Vector4f& quat);
 
+/**
+ * @brief Translates quaternions to yaw and pitch angles assuming roll stays
+ * close to 0.
+ *
+ * This applies to systems with 2 degrees of freedom, used to get the absolute
+ * yaw and pitch angles wrt the north.
+ *
+ * @param quat The quaternion to be transformed [x, y, z, w].
+ * @return Yaw, Pitch and Roll angles, with Roll set to 0.
+ */
+Eigen::Vector3f quat2stepperAngles(const Eigen::Vector4f& quat);
+
 /**
  * @brief Transform a rotation matrix into a quaternion.
  *
-- 
GitLab


From b31129fe1c4d186a22da2da0a04a5838cedde110 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Thu, 2 May 2024 12:10:30 +0200
Subject: [PATCH 2/6] [SkyQuaternion] Created test for SkyQuaternion class

Started implementing test for quat2stepperAngles
---
 CMakeLists.txt                                |    1 +
 .../skyQuaternion/test-skyquaternion-data.h   | 4147 +++++++++++++++++
 .../skyQuaternion/test-skyquaternion.cpp      |   53 +
 3 files changed, 4201 insertions(+)
 create mode 100644 src/tests/catch/skyQuaternion/test-skyquaternion-data.h
 create mode 100644 src/tests/catch/skyQuaternion/test-skyquaternion.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 531ba35ec..f44fba733 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -120,6 +120,7 @@ sbs_target(test-trace-logger stm32f429zi_stm32f4discovery)
 
 add_executable(catch-tests-boardcore
     src/tests/catch/catch-tests-entry.cpp
+    src/tests/catch/skyQuaternion/test-skyquaternion.cpp
     src/tests/catch/examples/example-test-factorial.cpp
     src/tests/catch/test-aero.cpp
     # src/tests/catch/test-buttonhandler.cpp
diff --git a/src/tests/catch/skyQuaternion/test-skyquaternion-data.h b/src/tests/catch/skyQuaternion/test-skyquaternion-data.h
new file mode 100644
index 000000000..b2d7e5907
--- /dev/null
+++ b/src/tests/catch/skyQuaternion/test-skyquaternion-data.h
@@ -0,0 +1,4147 @@
+#include <sensors/SensorData.h>
+#include <Eigen/Core>
+
+#include <vector>
+
+static const std::vector<Boardcore::QuaternionData> inputs = {
+    {0,0.720778346,-0.0172871947,0.0181208123,0.692713082},
+    {1,0.720776141,-0.017286256,0.0181177929,0.692715466},
+    {2,0.720773816,-0.0172894988,0.0181132685,0.69271791},
+    {3,0.720774651,-0.0172854587,0.0181078538,0.692717254},
+    {4,0.720772445,-0.0172900688,0.0181186199,0.692719221},
+    {5,0.720769882,-0.0172908399,0.0181129221,0.692722023},
+    {6,0.720772982,-0.0172892101,0.0181204639,0.692718565},
+    {7,0.720779359,-0.0172825605,0.0181263853,0.692712009},
+    {8,0.720776737,-0.0172857568,0.0181313567,0.692714572},
+    {9,0.720761776,-0.0172919948,0.0181184784,0.692730308},
+    {10,0.720765769,-0.0172855128,0.018116748,0.692726374},
+    {11,0.72077322,-0.0172825325,0.018115079,0.692718744},
+    {12,0.720767379,-0.0172781982,0.0181062799,0.692725122},
+    {13,0.72076118,-0.0172765944,0.0180940256,0.692731977},
+    {14,0.720764935,-0.0172720384,0.0181028582,0.692727864},
+    {15,0.720755339,-0.0172729958,0.0181081612,0.692737699},
+    {16,0.720750868,-0.0172812995,0.0181153268,0.69274193},
+    {17,0.720763147,-0.0172740687,0.0181155466,0.692729414},
+    {18,0.720766127,-0.0172746833,0.0181161072,0.692726254},
+    {19,0.720760703,-0.0172798093,0.0181021225,0.692732096},
+    {20,0.720761597,-0.0172866285,0.018110536,0.692730844},
+    {21,0.720766783,-0.0172828231,0.0181123856,0.69272548},
+    {22,0.720472813,-0.0168428142,0.0176813863,0.693053186},
+    {23,0.717413723,-0.016108498,0.0173130818,0.696245909},
+    {24,0.71142745,-0.0149062509,0.0162775517,0.702412903},
+    {25,0.703758538,-0.0136279389,0.0147849573,0.710154653},
+    {26,0.696487844,-0.01279609,0.0135191903,0.717327118},
+    {27,0.690827489,-0.0117129805,0.0124469344,0.722817659},
+    {28,0.686560154,-0.0105506554,0.0115880575,0.726904154},
+    {29,0.682211816,-0.00921791419,0.0106262406,0.731019258},
+    {30,0.676817656,-0.00772242947,0.00952831749,0.736048579},
+    {31,0.670605123,-0.00641674548,0.00859558024,0.741737008},
+    {32,0.666342616,-0.00512046693,0.00729928585,0.745592475},
+    {33,0.665059268,-0.0036026095,0.00566872954,0.746760428},
+    {34,0.665170968,-0.0029762669,0.00521724718,0.746666968},
+    {35,0.6647259,-0.00202759751,0.00488279341,0.747068584},
+    {36,0.662869275,-0.000766271784,0.00421955669,0.748722911},
+    {37,0.659775078,0.000602784101,0.00301796896,0.751456797},
+    {38,0.656785905,0.00170562638,0.00186740619,0.754072905},
+    {39,0.654562473,0.00230794447,0.00129782117,0.756003261},
+    {40,0.6531654,0.00382638979,0.00016926715,0.757205665},
+    {41,0.652149737,0.0048344424,-0.000558154949,0.758074582},
+    {42,0.652309597,0.00488348678,-0.000743180513,0.757936537},
+    {43,0.653487444,0.00488163764,-0.000782296644,0.756921291},
+    {44,0.654213071,0.00483828783,-0.000654503005,0.756294608},
+    {45,0.654497683,0.00489265891,-0.000659531099,0.756047964},
+    {46,0.654703498,0.00483545242,-0.000727703795,0.755869985},
+    {47,0.654718637,0.00482680602,-0.000707402301,0.75585705},
+    {48,0.655366719,0.00484672142,-0.000704707461,0.755295038},
+    {49,0.656249583,0.00480463961,-0.000759680523,0.754528165},
+    {50,0.656395555,0.00478378497,-0.000715193455,0.754401326},
+    {51,0.656036556,0.00483128708,-0.000727851875,0.754713297},
+    {52,0.655951321,0.00557684386,-0.00139329175,0.754781365},
+    {53,0.656094372,0.00585204782,-0.001629923,0.754654527},
+    {54,0.656369567,0.00589838205,-0.0016606492,0.754414618},
+    {55,0.657332718,0.00585629884,-0.0016916726,0.753575921},
+    {56,0.658024311,0.00712874299,-0.00283516641,0.752957642},
+    {57,0.657862127,0.00727213314,-0.00287754997,0.753097773},
+    {58,0.657734334,0.00733790314,-0.00299222232,0.753208339},
+    {59,0.6585567,0.00724599604,-0.00306257396,0.752490044},
+    {60,0.659439027,0.00898696855,-0.0045159366,0.751690805},
+    {61,0.659480333,0.00891774986,-0.00434542727,0.751656413},
+    {62,0.659079731,0.00886168331,-0.00439877575,0.75200808},
+    {63,0.658968866,0.00886197854,-0.00443778234,0.752104878},
+    {64,0.659101129,0.00888805557,-0.00435633026,0.751989186},
+    {65,0.659059644,-0.00120514038,0.00453567645,0.752076089},
+    {66,0.659053326,-0.00159902149,0.00486873556,0.752078712},
+    {67,0.659048498,-0.00273208413,0.00584239792,0.752072871},
+    {68,0.659044862,-0.00335006579,0.00637708046,0.752069175},
+    {69,0.65903759,-0.00440056762,0.00728906319,0.752061844},
+    {70,0.659029126,-0.00517336046,0.00796257611,0.752057433},
+    {71,0.659028769,-0.00554307736,0.00829410087,0.752051592},
+    {72,0.659030557,-0.00511300657,0.00791330077,0.752057195},
+    {73,0.659035265,-0.00491145859,0.00773928734,0.752056122},
+    {74,0.659051716,-0.0036896253,0.0066797086,0.752058923},
+    {75,0.659064054,-0.0020161632,0.00523364916,0.752065897},
+    {76,0.659067333,-0.00186654879,0.00511644362,0.752064168},
+    {77,0.659079969,-0.00075705623,0.00415926799,0.752061069},
+    {78,0.659078121,0.000442718359,0.00312915491,0.752067864},
+    {79,0.659079075,0.00105524715,0.00259826705,0.75206846},
+    {80,0.659089386,0.00188916794,0.00188070617,0.752059937},
+    {81,0.659085572,0.00337160076,0.00060498598,0.752060175},
+    {82,0.659085691,0.00340798288,0.000560570043,0.752059937},
+    {83,0.659095883,0.00378580485,0.000232291481,0.752049446},
+    {84,0.659081638,0.00668345811,-0.0022598498,0.7520383},
+    {85,0.659063339,0.0100189131,-0.0051450599,0.752003133},
+    {86,0.659041882,0.0129636731,-0.0076926956,0.751955271},
+    {87,0.659003139,0.0158298463,-0.0101624578,0.751904964},
+    {88,0.658960998,0.0188479684,-0.0127720097,0.751832485},
+    {89,0.658907771,0.0216670353,-0.0152069358,0.75175786},
+    {90,0.658830881,0.0249282885,-0.0180193726,0.751662016},
+    {91,0.658760428,0.0274346396,-0.0201914124,0.751581252},
+    {92,0.65866369,0.0307396837,-0.0230479613,0.751456022},
+    {93,0.658627212,0.0318116881,-0.0239733495,0.751414418},
+    {94,0.658586621,0.0330553539,-0.0250404291,0.75136143},
+    {95,0.658531964,0.0346177965,-0.0263929218,0.751292646},
+    {96,0.658476055,0.0360497534,-0.0276233312,0.751230121},
+    {97,0.658435822,0.0372256227,-0.0286456961,0.751169741},
+    {98,0.658387423,0.0384364426,-0.0296922289,0.751110613},
+    {99,0.65831244,0.0401550978,-0.03117029,0.751026392},
+    {100,0.658234835,0.0421434119,-0.0328934044,0.750912011},
+    {101,0.658166826,0.0435521193,-0.0341114923,0.750836849},
+    {102,0.658006251,0.0468223207,-0.0369375683,0.750647068},
+    {103,0.657687306,0.0528209172,-0.0421276838,0.750255048},
+    {104,0.657380164,0.0578713343,-0.04649055,0.749893904},
+    {105,0.657051623,0.0628299713,-0.0507738553,0.749504864},
+    {106,0.656661451,0.0682729557,-0.0554763936,0.749037385},
+    {107,0.656253576,0.0734428242,-0.0599429123,0.748561442},
+    {108,0.65579617,0.0788748637,-0.0646305457,0.748019516},
+    {109,0.655341923,0.0839629173,-0.0690282509,0.747470617},
+    {110,0.654825687,0.0893458501,-0.0736799911,0.746854722},
+    {111,0.654306591,0.0944384262,-0.0780777559,0.746235967},
+    {112,0.653905034,0.0982123464,-0.081350185,0.745751083},
+    {113,0.653889358,0.0983169302,-0.0814405531,0.745741248},
+    {114,0.653754771,0.0995905176,-0.0825451612,0.745568752},
+    {115,0.653559327,0.101327568,-0.0840517581,0.745337725},
+    {116,0.653486311,0.101926908,-0.084565334,0.745261908},
+    {117,0.653454244,0.102285959,-0.0848761573,0.745205522},
+    {118,0.653331697,0.10331127,-0.0857707188,0.745069087},
+    {119,0.653165817,0.104693756,-0.086964719,0.74488306},
+    {120,0.653133869,0.105033398,-0.0872574225,0.744828999},
+    {121,0.652959108,0.106485046,-0.0885085836,0.744628489},
+    {122,0.652808726,0.107689828,-0.08954788,0.744462848},
+    {123,0.652848661,0.107390128,-0.0892970338,0.744501293},
+    {124,0.652884662,0.107052729,-0.0890009999,0.744553685},
+    {125,0.652882993,0.107067242,-0.0890129656,0.744551659},
+    {126,0.653037667,0.10579887,-0.0879167467,0.744727552},
+    {127,0.653030813,0.105841972,-0.0879482701,0.744723678},
+    {128,0.653028786,0.105822705,-0.0879359096,0.744729698},
+    {129,0.653202057,0.104382358,-0.086694628,0.744926453},
+    {130,0.653204918,0.104315944,-0.0866344944,0.744940281},
+    {131,0.653313756,0.103389755,-0.0858335346,0.745066702},
+    {132,0.653347254,0.103146195,-0.0856202766,0.745095551},
+    {133,0.653345823,0.103125818,-0.0855975673,0.745102286},
+    {134,0.653355181,0.103096195,-0.0855647624,0.745101869},
+    {135,0.653470516,0.102088943,-0.0846945494,0.7452389},
+    {136,0.653617024,0.100779228,-0.0835572481,0.745417058},
+    {137,0.653800011,0.0991299525,-0.082135506,0.745635748},
+    {138,0.653947353,0.0978159755,-0.080986537,0.745805621},
+    {139,0.654067397,0.0966622904,-0.0799856335,0.745958865},
+    {140,0.654223025,0.0952022597,-0.0787284747,0.746143818},
+    {141,0.654389501,0.0935987458,-0.0773430988,0.74634558},
+    {142,0.654518366,0.092344664,-0.0762629285,0.746500015},
+    {143,0.654617488,0.0913523883,-0.0754051134,0.746622264},
+    {144,0.654736042,0.090146333,-0.0743553415,0.746770203},
+    {145,0.65474689,0.0899820179,-0.0742119923,0.74679482},
+    {146,0.654898226,0.0884248391,-0.0728671104,0.746980488},
+    {147,0.655023336,0.0871646181,-0.071778588,0.747124255},
+    {148,0.655022919,0.0870939791,-0.0717189759,0.74713856},
+    {149,0.655124307,0.0859745964,-0.0707532912,0.747271419},
+    {150,0.655247986,0.0847294331,-0.0696794391,0.747406125},
+    {151,0.655266643,0.0844557062,-0.0694452226,0.747442544},
+    {152,0.655408561,0.0828984827,-0.068095766,0.747616589},
+    {153,0.655416489,0.0828243867,-0.0680285767,0.74762398},
+    {154,0.655408025,0.0828077197,-0.0680083185,0.747635007},
+    {155,0.65541029,0.0828194618,-0.0680072904,0.747631848},
+    {156,0.655415952,0.0828179941,-0.0680188909,0.747625947},
+    {157,0.655408204,0.0828237757,-0.0680112243,0.747632861},
+    {158,0.655411661,0.0828248709,-0.0680120066,0.747629583},
+    {159,0.655415952,0.0828266442,-0.0680156946,0.747625291},
+    {160,0.65541023,0.0828369409,-0.0680201352,0.747628808},
+    {161,0.655414581,0.0828315392,-0.0680203661,0.747625589},
+    {162,0.655412495,0.0828286409,-0.0680262148,0.747627139},
+    {163,0.655427039,0.0826443061,-0.067858316,0.747650027},
+    {164,0.655558646,0.0811724141,-0.0665883943,0.747810066},
+    {165,0.65568614,0.0798047706,-0.0654065013,0.747949839},
+    {166,0.655844986,0.0779568255,-0.0638113841,0.748143196},
+    {167,0.655994177,0.0762742534,-0.0623548292,0.748308659},
+    {168,0.656093478,0.0750725418,-0.0613097325,0.748429418},
+    {169,0.656221986,0.0734601691,-0.0599256195,0.74858886},
+    {170,0.656351089,0.0718650594,-0.0585528947,0.748739123},
+    {171,0.656432629,0.0708063543,-0.0576380901,0.748839438},
+    {172,0.656520605,0.0696695521,-0.0566561148,0.748943985},
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+    {2029,0.573400736,-0.36733374,0.299523979,0.66825366},
+    {2030,0.573386669,-0.367323726,0.299546987,0.668260932},
+    {2031,0.573569298,-0.366991818,0.299259245,0.668415427},
+    {2032,0.573640049,-0.366800457,0.299075603,0.668541908},
+    {2033,0.573635221,-0.366781592,0.299110621,0.668540835},
+    {2034,0.573631585,-0.366788536,0.299098432,0.668545544},
+    {2035,0.573638499,-0.366801888,0.299087018,0.668537319},
+    {2036,0.573638499,-0.366788447,0.299113601,0.668532908},
+    {2037,0.573616266,-0.366794437,0.299100101,0.668554664},
+    {2038,0.573635697,-0.366806924,0.299099952,0.668531299},
+    {2039,0.573630691,-0.36680308,0.299118549,0.668529332},
+    {2040,0.573608398,-0.366795212,0.299114436,0.668554664},
+    {2041,0.573625863,-0.366801381,0.299112976,0.668536901},
+    {2042,0.573623776,-0.366816103,0.299118817,0.66852802},
+    {2043,0.573615432,-0.366811067,0.299116671,0.668538868},
+    {2044,0.573617578,-0.366821498,0.299119145,0.668530226},
+    {2045,0.573617876,-0.366838813,0.299130023,0.668515623},
+    {2046,0.573610306,-0.366834223,0.299127221,0.668525815},
+    {2047,0.573592722,-0.36683467,0.299132138,0.668538451},
+    {2048,0.573604286,-0.366839975,0.299140424,0.668521941},
+    {2049,0.57359755,-0.3668468,0.299139172,0.668524563},
+    {2050,0.573584616,-0.366835147,0.299145609,0.668539166},
+    {2051,0.573590577,-0.366841316,0.299160957,0.668523788},
+    {2052,0.573583543,-0.366858751,0.299154609,0.668523133},
+    {2053,0.573576152,-0.366854608,0.299172044,0.668523848},
+    {2054,0.573564112,-0.366861731,0.299188584,0.668522894},
+    {2055,0.573564112,-0.366878361,0.299192727,0.668511927},
+    {2056,0.573559225,-0.366880834,0.299202889,0.668510258},
+    {2057,0.573539138,-0.366886437,0.299218953,0.668517232},
+    {2058,0.573535323,-0.36689657,0.299221843,0.668513596},
+    {2059,0.573533535,-0.366909832,0.299229771,0.668504298},
+    {2060,0.573522329,-0.36691466,0.299248666,0.668502808},
+    {2061,0.573514342,-0.366921991,0.299253613,0.668503523},
+    {2062,0.57350719,-0.366942972,0.299260885,0.668494821},
+    {2063,0.5734936,-0.366948038,0.2992782,0.668496013},
+    {2064,0.573478103,-0.366958231,0.299286783,0.668499887},
+    {2065,0.573477268,-0.366977543,0.299297035,0.668485403},
+    {2066,0.573466003,-0.366987646,0.299314559,0.668481648},
+    {2067,0.573445439,-0.366999567,0.299324393,0.668488264},
+    {2068,0.57343173,-0.367011249,0.299345523,0.668484151}
+};
+static const std::vector<Eigen::Vector3f> outputs = {
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+    {87.7251646880435,2.86980794547854,0},
+    {87.7255658212797,2.86969162939705,0},
+    {87.7254454841304,2.86892340692927,0},
+    {87.7257764963664,2.87017893090998,0},
+    {87.7262247666344,2.86976920459143,0},
+    {87.7256686494918,2.87026355483494,0},
+    {87.7246008496925,2.87022446648878,0},
+    {87.7250208743746,2.87088890883874,0},
+    {87.7275457944992,2.87031988060639,0},
+    {87.7268950718383,2.86966198115272,0},
+    {87.7256709755773,2.86928740479807,0},
+    {87.7266670527937,2.86821605460405,0},
+    {87.7277500012458,2.86707554084669,0},
+    {87.7270781789425,2.86744421729087,0},
+    {87.7286446711478,2.86795830718744,0},
+    {87.7293497565107,2.86921016967116,0},
+    {87.7273327146943,2.86865367243725,0},
+    {87.7268329794578,2.86874904562473,0},
+    {87.7277813905976,2.86800057877074,0},
+    {87.7276097023265,2.86923717620821,0},
+    {87.7267423037784,2.86908793780053,0},
+    {87.7770996413614,2.79851252907386,0},
+    {88.2829150723259,2.70951054038937,0},
+    {89.2672911099196,2.52764020011994,0},
+    {90.5162822704166,2.30196338980435,0},
+    {91.6872532023601,2.13131652311386,0},
+    {92.590945479754,1.95589143650237,0},
+    {93.2677409726842,1.79081382001768,0},
+    {93.9535804613107,1.60310222375385,0},
+    {94.7986455349353,1.39048645960254,0},
+    {95.7639276325223,1.20603532663125,0},
+    {96.4230492302468,0.994896822365639,0},
+    {96.622556685743,0.740324459727189,0},
+    {96.6059801461737,0.652347479140416,0},
+    {96.6746420181747,0.545524171298009,0},
+    {96.9598138259462,0.386266626418815,0},
+    {97.4334988727366,0.176269200358141,0},
+    {97.8891920723606,-0.00683897663397895,0},
+    {98.2268367494686,-0.102596132633698,0},
+    {98.438636712025,-0.319350261971724,0},
+    {98.5922083685751,-0.461686167304158,0},
+    {98.5680109986915,-0.479710435279661,0},
+    {98.3898237087866,-0.482011271918662,0},
+    {98.27994701888,-0.468388219671283,0},
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+    {98.203322439007,-0.471157683667452,0},
+    {98.1050303262942,-0.472420872509592,0},
+    {97.9709896152503,-0.472561628897462,0},
+    {97.9488217370308,-0.46735535780832,0},
+    {98.0033502676701,-0.472556963613392,0},
+    {98.0161374736244,-0.587096991456156,0},
+    {97.9943456774554,-0.628631009382038,0},
+    {97.9525189678728,-0.63483894125055,0},
+    {97.8061496368322,-0.633157534362706,0},
+    {97.7003390661531,-0.828909031014796,0},
+    {97.724983167935,-0.844542800122162,0},
+    {97.7443538154059,-0.858913733860177,0},
+    {97.6191414778781,-0.855974438581683,0},
+    {97.4834413121396,-1.11545085585702,0},
+    {97.4773222593932,-1.09658635270999,0},
+    {97.5383254337261,-1.09594277394423,0},
+    {97.5551573382324,-1.09895675662308,0},
+    {97.5350958459496,-1.09500173528551,0},
+    {97.5412403103992,0.446417854391854,0},
+    {97.5418252863621,0.505516557891406,0},
+    {97.5413753802221,0.676705003572292,0},
+    {97.5411677526918,0.770348065317572,0},
+    {97.5408343591824,0.929764849766979,0},
+    {97.540923699245,1.04723682162357,0},
+    {97.5403653313081,1.10414188965539,0},
+    {97.5408094853908,1.03831365449574,0},
+    {97.5403906990924,1.00780162201144,0},
+    {97.5396619892149,0.822473086863329,0},
+    {97.5397709989751,0.569032666964328,0},
+    {97.5394038624592,0.547287465943295,0},
+    {97.538526829109,0.37937963076473,0},
+    {97.5396654992322,0.198178175687191,0},
+    {97.5398749174173,0.105293445542962,0},
+    {97.5386767870262,-0.0207658913352128,0},
+    {97.5396199872831,-0.244875988451801,0},
+    {97.5396071725892,-0.251365963289705,0},
+    {97.5380963992963,-0.308716624818148,0},
+    {97.5396664755957,-0.746669658556963,0},
+    {97.5399916130916,-1.25205101088598,0},
+    {97.5394930584791,-1.69828146416848,0},
+    {97.5402882702247,-2.13188556314009,0},
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+    {97.5440853457111,-5.55721749013549,0},
+    {97.54507666151,-5.81729056400348,0},
+    {97.5441331487564,-6.11919188473883,0},
+    {97.5450405734954,-6.33291213525998,0},
+    {97.5462643397797,-6.82900621759937,0},
+    {97.5473429925944,-7.73980654719947,0},
+    {97.5493396396055,-8.5065018334967,0},
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+    {97.5526035391101,-10.0868136814455,0},
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+    {97.5605266920394,-14.071133112176,0},
+    {97.5609437370907,-14.6480555721537,0},
+    {97.5616232000036,-14.6640246609165,0},
+    {97.5610233383204,-14.8588242946088,0},
+    {97.5615506040186,-15.1245855145503,0},
+    {97.5625687948437,-15.2158290931267,0},
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+    {97.5646059739643,-16.0970216869734,0},
+    {97.5637712560976,-16.0517983441153,0},
+    {97.5644267125915,-15.9998605270441,0},
+    {97.5644368293591,-16.002035263775,0},
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+    {110.03916648215,45.3063170623643,0},
+    {110.141097968804,45.3058248194365,0},
+    {110.200798299097,45.3062309575333,0},
+    {110.174767026514,45.3114720681227,0},
+    {110.153350667539,45.3133813024514,0},
+    {110.174031807555,45.3102579077145,0},
+    {110.169608735048,45.3108846699016,0},
+    {110.164933275394,45.3152207698766,0},
+    {110.170281536672,45.3157551044433,0},
+    {110.169090622482,45.3129068249424,0},
+    {110.171012051105,45.3170870719378,0},
+    {110.165876992171,45.3189859421369,0},
+    {110.170387884671,45.3170715434645,0},
+    {110.171953490527,45.3183775728217,0},
+    {110.160693436801,45.4512601356457,0},
+    {110.002788717377,45.9586297554368,0},
+    {109.593439187185,46.3928434703439,0},
+    {109.011859714353,46.8352083548652,0},
+    {108.354878234699,47.3087610606288,0},
+    {107.652951338705,47.8330697620481,0},
+    {106.905278595813,48.4027606563205,0},
+    {106.155523402968,48.8873968751626,0},
+    {105.449960784856,49.4137263003879,0},
+    {104.79687537204,50.0114413083621,0},
+    {104.165394387465,50.5034433207417,0},
+    {103.493886845637,51.0315096943159,0},
+    {102.766110543632,51.6156567164272,0},
+    {102.017746030116,52.0934888229477,0},
+    {101.352628710412,52.63299719914,0},
+    {100.949507106537,52.8186451184191,0},
+    {100.792235250818,53.0745974166854,0},
+    {100.782892329359,53.3096994641459,0},
+    {100.774759404502,53.5558041007169,0},
+    {100.709449614501,53.869786666675,0},
+    {100.570245261291,54.0778784697496,0},
+    {100.33557850817,54.289061002179,0},
+    {100.050772604965,54.6019739826636,0},
+    {99.7945545501863,54.9030612422042,0},
+    {99.6269273425258,55.0675965952041,0},
+    {99.601796701566,55.2027509676897,0},
+    {99.5949795703668,55.2832842550219,0},
+    {99.588886171171,55.517952614891,0},
+    {99.5902263526191,55.7201901879861,0},
+    {99.5500837187723,55.8696173722601,0},
+    {99.438622155211,55.9425745285003,0},
+    {99.3519063882477,56.1312207953556,0},
+    {99.3550374172544,56.3703449240371,0},
+    {99.3894089143418,56.5546373699362,0},
+    {99.3830941406462,56.5643328290911,0},
+    {99.3771695658116,56.5681807248668,0},
+    {99.3837768842672,56.5690900775789,0},
+    {99.3808652151179,56.5677330949056,0},
+    {99.3811591698253,56.5714748160902,0},
+    {99.37944474592,56.5736848817125,0},
+    {99.3800506872094,56.5726341615289,0},
+    {99.3824791682574,56.5754171646123,0},
+    {99.3775030121732,56.5776653860068,0},
+    {99.3807246504651,56.5764741787949,0},
+    {99.3809988639579,56.5774006681361,0},
+    {99.3766770619839,56.52021832548,0},
+    {99.3800084862834,56.4858170584506,0},
+    {99.3782330520724,56.4868402789841,0},
+    {99.3795567638752,56.4865290057364,0},
+    {99.3794181672726,56.4869124224053,0},
+    {99.3775863850961,56.4877700026365,0},
+    {99.3814764330576,56.4872751429854,0},
+    {99.3789105495902,56.4884786294165,0},
+    {99.3782783151039,56.4896508468317,0},
+    {99.3815411708035,56.4885419438711,0},
+    {99.3793089510769,56.4890231668162,0},
+    {99.3791839099028,56.4909759448686,0},
+    {99.3804399371058,56.4903075485663,0},
+    {99.3799862554938,56.4915476221146,0},
+    {99.3791936615888,56.4941748526574,0},
+    {99.3803863678858,56.4934999298479,0},
+    {99.3823868283932,56.493970980352,0},
+    {99.3802745481433,56.4951736095534,0},
+    {99.3812629033792,56.495753704272,0},
+    {99.382537780268,56.4951405597261,0},
+    {99.3806755153017,56.4970259202392,0},
+    {99.3820589938741,56.4982395459684,0},
+    {99.3818184103235,56.4992926770323,0},
+    {99.3822768706303,56.5013860330183,0},
+    {99.3819908208527,56.5033866025187,0},
+    {99.381941760934,56.5044777528465,0},
+    {99.3835021819093,56.5063902684403,0},
+    {99.3838019382633,56.5076499505579,0},
+    {99.3834884312105,56.5096329955751,0},
+    {99.3836684895793,56.5116949373161,0},
+    {99.38440286864,56.512834090166,0},
+    {99.3848408609022,56.5155438830341,0},
+    {99.3854568171595,56.5174941926777,0},
+    {99.3869270048835,56.5192369583973,0},
+    {99.3863242064146,56.5220159079075,0},
+    {99.3866027595312,56.5244931249618,0},
+    {99.38864752941,56.5265269857046,0},
+    {99.3890047354277,56.529460704988,0}
+};
diff --git a/src/tests/catch/skyQuaternion/test-skyquaternion.cpp b/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
new file mode 100644
index 000000000..ab12dc09d
--- /dev/null
+++ b/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
@@ -0,0 +1,53 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <utils/SkyQuaternion/SkyQuaternion.h>
+
+#include <Eigen/Core>
+#include <catch2/catch.hpp>
+#include <iostream>
+
+#include "test-skyquaternion-data.h"
+
+using namespace Eigen;
+using namespace Boardcore;
+using namespace SkyQuaternion;
+
+void testEulerAngles(const Vector3f actual, const Vector3f expected)
+{
+    REQUIRE(actual[0] == Approx(expected[0]).margin(0.0001));
+    REQUIRE(actual[1] == Approx(expected[1]).margin(0.0001));
+    REQUIRE(actual[2] == Approx(expected[2]).margin(0.0001));
+}
+
+TEST_CASE("quat2stepperAngles")
+{
+    assert((inputs.size() == outputs.size()) &&
+           "Input and Output vector sizes don't match");
+
+    for (auto i = 0; i < inputs.size(); i++)
+    {
+        Vector3f euler =
+            Boardcore::SkyQuaternion::quat2stepperAngles(Vector4f(inputs[i]));
+        testEulerAngles(euler, outputs[i]);
+    }
+}
\ No newline at end of file
-- 
GitLab


From abf2aa3033b14923d2a25f7631d4907cef414803 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Thu, 9 May 2024 15:39:56 +0000
Subject: [PATCH 3/6] Apply 1 suggestion(s) to 1 file(s)

---
 src/tests/catch/skyQuaternion/test-skyquaternion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/tests/catch/skyQuaternion/test-skyquaternion.cpp b/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
index ab12dc09d..8c11755b2 100644
--- a/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
+++ b/src/tests/catch/skyQuaternion/test-skyquaternion.cpp
@@ -32,7 +32,7 @@ using namespace Eigen;
 using namespace Boardcore;
 using namespace SkyQuaternion;
 
-void testEulerAngles(const Vector3f actual, const Vector3f expected)
+void testEulerAngles(const Vector3f &actual, const Vector3f &expected)
 {
     REQUIRE(actual[0] == Approx(expected[0]).margin(0.0001));
     REQUIRE(actual[1] == Approx(expected[1]).margin(0.0001));
-- 
GitLab


From 8c745612f033bc871ec68a7c774d1d4a06dd5b83 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Thu, 9 May 2024 17:55:05 +0200
Subject: [PATCH 4/6] [SkyQuaternion] Enhanced documentation of
 quat2stepperAngles

---
 src/shared/utils/SkyQuaternion/SkyQuaternion.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/shared/utils/SkyQuaternion/SkyQuaternion.h b/src/shared/utils/SkyQuaternion/SkyQuaternion.h
index 70d17f6e2..99553facf 100644
--- a/src/shared/utils/SkyQuaternion/SkyQuaternion.h
+++ b/src/shared/utils/SkyQuaternion/SkyQuaternion.h
@@ -58,8 +58,8 @@ Eigen::Vector3f quat2eul(const Eigen::Vector4f& quat);
  * This applies to systems with 2 degrees of freedom, used to get the absolute
  * yaw and pitch angles wrt the north.
  *
- * @param quat The quaternion to be transformed [x, y, z, w].
- * @return Yaw, Pitch and Roll angles, with Roll set to 0.
+ * @param quat The quaternion to be transformed (scalar last: [x, y, z, w]).
+ * @return Yaw, Pitch and Roll angles, with Roll set to 0. [deg]
  */
 Eigen::Vector3f quat2stepperAngles(const Eigen::Vector4f& quat);
 
-- 
GitLab


From 141b04822f4e3f018fc55f4346c220eabb4e7490 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Thu, 9 May 2024 18:05:11 +0200
Subject: [PATCH 5/6] [SkyQuaternion] Formatted data for the test

---
 .../skyQuaternion/test-skyquaternion-data.h   | 8302 +++++++++--------
 1 file changed, 4161 insertions(+), 4141 deletions(-)

diff --git a/src/tests/catch/skyQuaternion/test-skyquaternion-data.h b/src/tests/catch/skyQuaternion/test-skyquaternion-data.h
index b2d7e5907..8313c6353 100644
--- a/src/tests/catch/skyQuaternion/test-skyquaternion-data.h
+++ b/src/tests/catch/skyQuaternion/test-skyquaternion-data.h
@@ -1,4147 +1,4167 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Authors: Emilio Corigliano, Federico Disarò
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
 #include <sensors/SensorData.h>
-#include <Eigen/Core>
 
+#include <Eigen/Core>
 #include <vector>
 
 static const std::vector<Boardcore::QuaternionData> inputs = {
-    {0,0.720778346,-0.0172871947,0.0181208123,0.692713082},
-    {1,0.720776141,-0.017286256,0.0181177929,0.692715466},
-    {2,0.720773816,-0.0172894988,0.0181132685,0.69271791},
-    {3,0.720774651,-0.0172854587,0.0181078538,0.692717254},
-    {4,0.720772445,-0.0172900688,0.0181186199,0.692719221},
-    {5,0.720769882,-0.0172908399,0.0181129221,0.692722023},
-    {6,0.720772982,-0.0172892101,0.0181204639,0.692718565},
-    {7,0.720779359,-0.0172825605,0.0181263853,0.692712009},
-    {8,0.720776737,-0.0172857568,0.0181313567,0.692714572},
-    {9,0.720761776,-0.0172919948,0.0181184784,0.692730308},
-    {10,0.720765769,-0.0172855128,0.018116748,0.692726374},
-    {11,0.72077322,-0.0172825325,0.018115079,0.692718744},
-    {12,0.720767379,-0.0172781982,0.0181062799,0.692725122},
-    {13,0.72076118,-0.0172765944,0.0180940256,0.692731977},
-    {14,0.720764935,-0.0172720384,0.0181028582,0.692727864},
-    {15,0.720755339,-0.0172729958,0.0181081612,0.692737699},
-    {16,0.720750868,-0.0172812995,0.0181153268,0.69274193},
-    {17,0.720763147,-0.0172740687,0.0181155466,0.692729414},
-    {18,0.720766127,-0.0172746833,0.0181161072,0.692726254},
-    {19,0.720760703,-0.0172798093,0.0181021225,0.692732096},
-    {20,0.720761597,-0.0172866285,0.018110536,0.692730844},
-    {21,0.720766783,-0.0172828231,0.0181123856,0.69272548},
-    {22,0.720472813,-0.0168428142,0.0176813863,0.693053186},
-    {23,0.717413723,-0.016108498,0.0173130818,0.696245909},
-    {24,0.71142745,-0.0149062509,0.0162775517,0.702412903},
-    {25,0.703758538,-0.0136279389,0.0147849573,0.710154653},
-    {26,0.696487844,-0.01279609,0.0135191903,0.717327118},
-    {27,0.690827489,-0.0117129805,0.0124469344,0.722817659},
-    {28,0.686560154,-0.0105506554,0.0115880575,0.726904154},
-    {29,0.682211816,-0.00921791419,0.0106262406,0.731019258},
-    {30,0.676817656,-0.00772242947,0.00952831749,0.736048579},
-    {31,0.670605123,-0.00641674548,0.00859558024,0.741737008},
-    {32,0.666342616,-0.00512046693,0.00729928585,0.745592475},
-    {33,0.665059268,-0.0036026095,0.00566872954,0.746760428},
-    {34,0.665170968,-0.0029762669,0.00521724718,0.746666968},
-    {35,0.6647259,-0.00202759751,0.00488279341,0.747068584},
-    {36,0.662869275,-0.000766271784,0.00421955669,0.748722911},
-    {37,0.659775078,0.000602784101,0.00301796896,0.751456797},
-    {38,0.656785905,0.00170562638,0.00186740619,0.754072905},
-    {39,0.654562473,0.00230794447,0.00129782117,0.756003261},
-    {40,0.6531654,0.00382638979,0.00016926715,0.757205665},
-    {41,0.652149737,0.0048344424,-0.000558154949,0.758074582},
-    {42,0.652309597,0.00488348678,-0.000743180513,0.757936537},
-    {43,0.653487444,0.00488163764,-0.000782296644,0.756921291},
-    {44,0.654213071,0.00483828783,-0.000654503005,0.756294608},
-    {45,0.654497683,0.00489265891,-0.000659531099,0.756047964},
-    {46,0.654703498,0.00483545242,-0.000727703795,0.755869985},
-    {47,0.654718637,0.00482680602,-0.000707402301,0.75585705},
-    {48,0.655366719,0.00484672142,-0.000704707461,0.755295038},
-    {49,0.656249583,0.00480463961,-0.000759680523,0.754528165},
-    {50,0.656395555,0.00478378497,-0.000715193455,0.754401326},
-    {51,0.656036556,0.00483128708,-0.000727851875,0.754713297},
-    {52,0.655951321,0.00557684386,-0.00139329175,0.754781365},
-    {53,0.656094372,0.00585204782,-0.001629923,0.754654527},
-    {54,0.656369567,0.00589838205,-0.0016606492,0.754414618},
-    {55,0.657332718,0.00585629884,-0.0016916726,0.753575921},
-    {56,0.658024311,0.00712874299,-0.00283516641,0.752957642},
-    {57,0.657862127,0.00727213314,-0.00287754997,0.753097773},
-    {58,0.657734334,0.00733790314,-0.00299222232,0.753208339},
-    {59,0.6585567,0.00724599604,-0.00306257396,0.752490044},
-    {60,0.659439027,0.00898696855,-0.0045159366,0.751690805},
-    {61,0.659480333,0.00891774986,-0.00434542727,0.751656413},
-    {62,0.659079731,0.00886168331,-0.00439877575,0.75200808},
-    {63,0.658968866,0.00886197854,-0.00443778234,0.752104878},
-    {64,0.659101129,0.00888805557,-0.00435633026,0.751989186},
-    {65,0.659059644,-0.00120514038,0.00453567645,0.752076089},
-    {66,0.659053326,-0.00159902149,0.00486873556,0.752078712},
-    {67,0.659048498,-0.00273208413,0.00584239792,0.752072871},
-    {68,0.659044862,-0.00335006579,0.00637708046,0.752069175},
-    {69,0.65903759,-0.00440056762,0.00728906319,0.752061844},
-    {70,0.659029126,-0.00517336046,0.00796257611,0.752057433},
-    {71,0.659028769,-0.00554307736,0.00829410087,0.752051592},
-    {72,0.659030557,-0.00511300657,0.00791330077,0.752057195},
-    {73,0.659035265,-0.00491145859,0.00773928734,0.752056122},
-    {74,0.659051716,-0.0036896253,0.0066797086,0.752058923},
-    {75,0.659064054,-0.0020161632,0.00523364916,0.752065897},
-    {76,0.659067333,-0.00186654879,0.00511644362,0.752064168},
-    {77,0.659079969,-0.00075705623,0.00415926799,0.752061069},
-    {78,0.659078121,0.000442718359,0.00312915491,0.752067864},
-    {79,0.659079075,0.00105524715,0.00259826705,0.75206846},
-    {80,0.659089386,0.00188916794,0.00188070617,0.752059937},
-    {81,0.659085572,0.00337160076,0.00060498598,0.752060175},
-    {82,0.659085691,0.00340798288,0.000560570043,0.752059937},
-    {83,0.659095883,0.00378580485,0.000232291481,0.752049446},
-    {84,0.659081638,0.00668345811,-0.0022598498,0.7520383},
-    {85,0.659063339,0.0100189131,-0.0051450599,0.752003133},
-    {86,0.659041882,0.0129636731,-0.0076926956,0.751955271},
-    {87,0.659003139,0.0158298463,-0.0101624578,0.751904964},
-    {88,0.658960998,0.0188479684,-0.0127720097,0.751832485},
-    {89,0.658907771,0.0216670353,-0.0152069358,0.75175786},
-    {90,0.658830881,0.0249282885,-0.0180193726,0.751662016},
-    {91,0.658760428,0.0274346396,-0.0201914124,0.751581252},
-    {92,0.65866369,0.0307396837,-0.0230479613,0.751456022},
-    {93,0.658627212,0.0318116881,-0.0239733495,0.751414418},
-    {94,0.658586621,0.0330553539,-0.0250404291,0.75136143},
-    {95,0.658531964,0.0346177965,-0.0263929218,0.751292646},
-    {96,0.658476055,0.0360497534,-0.0276233312,0.751230121},
-    {97,0.658435822,0.0372256227,-0.0286456961,0.751169741},
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+    {1868, 0.286109567, -0.241524488, 0.0601794682, 0.925303042},
+    {1869, 0.29022786, -0.241097227, 0.0612505786, 0.924060762},
+    {1870, 0.294525921, -0.239291623, 0.0618116148, 0.92313236},
+    {1871, 0.297330976, -0.239195585, 0.0624609366, 0.922213912},
+    {1872, 0.300163776, -0.238811508, 0.0632108822, 0.921344221},
+    {1873, 0.304374516, -0.238292232, 0.064318113, 0.920019686},
+    {1874, 0.309261173, -0.237926766, 0.0655192807, 0.91839838},
+    {1875, 0.31372714, -0.237573594, 0.0665714219, 0.916898251},
+    {1876, 0.317251205, -0.237139314, 0.0675001219, 0.915729463},
+    {1877, 0.32014811, -0.236816496, 0.0682296455, 0.914750159},
+    {1878, 0.323668242, -0.236487269, 0.0691079199, 0.913529873},
+    {1879, 0.328090876, -0.236032248, 0.0702189058, 0.911983848},
+    {1880, 0.332615703, -0.235538915, 0.0713511109, 0.910383046},
+    {1881, 0.334997237, -0.235372558, 0.0719276667, 0.909507096},
+    {1882, 0.335454911, -0.2354801, 0.07205116, 0.909300745},
+    {1883, 0.33608523, -0.235837936, 0.0725227967, 0.908937633},
+    {1884, 0.33846885, -0.235452622, 0.0731617659, 0.908101499},
+    {1885, 0.342300177, -0.235102683, 0.0741488114, 0.906674862},
+    {1886, 0.345525533, -0.235449538, 0.0750652626, 0.905284941},
+    {1887, 0.347131163, -0.235924542, 0.0756643936, 0.904496849},
+    {1888, 0.348254532, -0.235747218, 0.0760244876, 0.904080927},
+    {1889, 0.349969804, -0.235441089, 0.0764718279, 0.903460443},
+    {1890, 0.351315916, -0.235398203, 0.076786384, 0.902922332},
+    {1891, 0.351599246, -0.23539865, 0.0768710226, 0.902804732},
+    {1892, 0.352869302, -0.235139489, 0.0772038549, 0.90234822},
+    {1893, 0.355787873, -0.234717026, 0.0779994801, 0.901243031},
+    {1894, 0.358642399, -0.236170739, 0.079390645, 0.89960897},
+    {1895, 0.360673368, -0.236198679, 0.0799408033, 0.89874047},
+    {1896, 0.361744255, -0.237688661, 0.0809568316, 0.897825837},
+    {1897, 0.362816811, -0.238443166, 0.0816411451, 0.897130728},
+    {1898, 0.364824057, -0.238760069, 0.0823584199, 0.896166444},
+    {1899, 0.367721468, -0.239516526, 0.0835684836, 0.894667089},
+    {1900, 0.370178908, -0.239384577, 0.0843207613, 0.89361769},
+    {1901, 0.370980293, -0.24097079, 0.0852107927, 0.892774284},
+    {1902, 0.37207371, -0.242584378, 0.0863224268, 0.891774893},
+    {1903, 0.374916911, -0.243450582, 0.087704502, 0.890211821},
+    {1904, 0.378833383, -0.243957266, 0.0891493037, 0.888269424},
+    {1905, 0.382233977, -0.244530961, 0.0904176459, 0.886524916},
+    {1906, 0.383945018, -0.245865062, 0.0916098952, 0.885293305},
+    {1907, 0.385148644, -0.247462377, 0.0928257629, 0.884198129},
+    {1908, 0.387188196, -0.248624384, 0.094044596, 0.882851541},
+    {1909, 0.390408099, -0.249450564, 0.0955165774, 0.881040573},
+    {1910, 0.393940419, -0.250208825, 0.0970918462, 0.879078925},
+    {1911, 0.396498203, -0.251375169, 0.0985315964, 0.877434492},
+    {1912, 0.398478568, -0.252467126, 0.0997566059, 0.876084447},
+    {1913, 0.400492191, -0.253319323, 0.100938305, 0.874783874},
+    {1914, 0.403328866, -0.254056215, 0.102296837, 0.873107493},
+    {1915, 0.40651691, -0.255139679, 0.103949033, 0.871115565},
+    {1916, 0.409340203, -0.256456912, 0.10566625, 0.869197965},
+    {1917, 0.411662251, -0.257499188, 0.1070389, 0.867623806},
+    {1918, 0.413745224, -0.258371979, 0.108275428, 0.866218984},
+    {1919, 0.416225791, -0.259542704, 0.109824933, 0.864483774},
+    {1920, 0.418135196, -0.261163145, 0.111352123, 0.862877429},
+    {1921, 0.41864714, -0.262546629, 0.112286843, 0.862087905},
+    {1922, 0.420020878, -0.263525099, 0.11338672, 0.860976458},
+    {1923, 0.423050225, -0.264626771, 0.115247823, 0.858905792},
+    {1924, 0.426952541, -0.265805036, 0.117336296, 0.856324375},
+    {1925, 0.429974407, -0.266817808, 0.119008861, 0.85426414},
+    {1926, 0.431630075, -0.267766714, 0.120203234, 0.852964103},
+    {1927, 0.432906866, -0.269078553, 0.121543907, 0.85171324},
+    {1928, 0.434984952, -0.270631671, 0.123266324, 0.849913001},
+    {1929, 0.438278645, -0.271673977, 0.125196382, 0.847603023},
+    {1930, 0.441540807, -0.271866381, 0.12668632, 0.845624626},
+    {1931, 0.443616837, -0.273118645, 0.128250822, 0.843896985},
+    {1932, 0.445315182, -0.27463007, 0.129909024, 0.842256665},
+    {1933, 0.447871864, -0.275964022, 0.13183856, 0.840162635},
+    {1934, 0.451285124, -0.276945561, 0.133853868, 0.837691009},
+    {1935, 0.454648763, -0.278428942, 0.136239797, 0.834991395},
+    {1936, 0.457362264, -0.279358149, 0.138056055, 0.83289814},
+    {1937, 0.459557652, -0.280219704, 0.139594734, 0.831142068},
+    {1938, 0.461621851, -0.281702936, 0.141465902, 0.829177976},
+    {1939, 0.46423617, -0.283465624, 0.14381887, 0.82670927},
+    {1940, 0.467207044, -0.284245044, 0.145706981, 0.82443428},
+    {1941, 0.468920827, -0.285649896, 0.14738059, 0.822676361},
+    {1942, 0.470385432, -0.287527204, 0.149363354, 0.82082659},
+    {1943, 0.472652227, -0.288891941, 0.15143837, 0.818662167},
+    {1944, 0.475929588, -0.290036708, 0.153747901, 0.815923631},
+    {1945, 0.479151279, -0.291651696, 0.1564596, 0.812941432},
+    {1946, 0.481807858, -0.29259932, 0.158447936, 0.810642421},
+    {1947, 0.483471066, -0.293935806, 0.160279438, 0.808806598},
+    {1948, 0.485098213, -0.295958787, 0.162507728, 0.806647062},
+    {1949, 0.487525254, -0.29701215, 0.164565101, 0.804376364},
+    {1950, 0.490605921, -0.297766089, 0.166739598, 0.801772475},
+    {1951, 0.492763758, -0.29952538, 0.169142947, 0.799286723},
+    {1952, 0.494576365, -0.300751001, 0.171064198, 0.79729557},
+    {1953, 0.4965702, -0.301781505, 0.172993928, 0.795247793},
+    {1954, 0.499064147, -0.303175539, 0.175397724, 0.792625606},
+    {1955, 0.501856625, -0.304375172, 0.177873462, 0.789846063},
+    {1956, 0.504456103, -0.305367142, 0.180170476, 0.787282407},
+    {1957, 0.506499887, -0.3066715, 0.182398707, 0.78494662},
+    {1958, 0.508351266, -0.307958454, 0.184481204, 0.78275615},
+    {1959, 0.51043278, -0.308887511, 0.186500296, 0.780553997},
+    {1960, 0.512633801, -0.310109466, 0.188854694, 0.778056979},
+    {1961, 0.51450932, -0.311539769, 0.191120759, 0.775690615},
+    {1962, 0.516147673, -0.312787354, 0.193155929, 0.773593247},
+    {1963, 0.517959237, -0.314054757, 0.195427865, 0.771294951},
+    {1964, 0.519958675, -0.315256119, 0.19767569, 0.76888293},
+    {1965, 0.522218764, -0.316089898, 0.199835107, 0.766446829},
+    {1966, 0.524257898, -0.317293078, 0.202250019, 0.76391995},
+    {1967, 0.526120186, -0.318528563, 0.204574585, 0.761502743},
+    {1968, 0.527883172, -0.319648176, 0.206706822, 0.759234309},
+    {1969, 0.529552579, -0.320893079, 0.208971262, 0.756923258},
+    {1970, 0.531326711, -0.321969301, 0.211207464, 0.754598737},
+    {1971, 0.532690883, -0.321747214, 0.211905286, 0.753535211},
+    {1972, 0.532706618, -0.321786761, 0.211878479, 0.753514767},
+    {1973, 0.53202343, -0.321948588, 0.211623624, 0.753999829},
+    {1974, 0.53162086, -0.32204625, 0.211479768, 0.754282355},
+    {1975, 0.531796038, -0.322056085, 0.211543322, 0.754136801},
+    {1976, 0.531937182, -0.322035491, 0.21160315, 0.754029274},
+    {1977, 0.531797945, -0.322037697, 0.211552933, 0.754140675},
+    {1978, 0.531818926, -0.322021604, 0.211585626, 0.754123509},
+    {1979, 0.531858325, -0.32207033, 0.211577207, 0.754077315},
+    {1980, 0.5318169, -0.322074682, 0.211577684, 0.754104495},
+    {1981, 0.531816721, -0.322030663, 0.211601272, 0.754116833},
+    {1982, 0.531805873, -0.322078258, 0.211591303, 0.754106939},
+    {1983, 0.531839967, -0.322087884, 0.211604938, 0.754074931},
+    {1984, 0.531802833, -0.322064579, 0.211610928, 0.754109383},
+    {1985, 0.531790614, -0.322076857, 0.211611554, 0.754112661},
+    {1986, 0.531629324, -0.322948277, 0.212233633, 0.753678679},
+    {1987, 0.531702459, -0.325954556, 0.215080425, 0.751522839},
+    {1988, 0.533537865, -0.327982128, 0.218324333, 0.748398006},
+    {1989, 0.536470234, -0.329733789, 0.222076148, 0.744417608},
+    {1990, 0.539795816, -0.331507653, 0.226207167, 0.739968598},
+    {1991, 0.543223262, -0.333403349, 0.230831712, 0.735165},
+    {1992, 0.546816409, -0.335474938, 0.235789344, 0.729966938},
+    {1993, 0.550559759, -0.336974978, 0.240335703, 0.724962533},
+    {1994, 0.553860247, -0.338739842, 0.245031834, 0.720037282},
+    {1995, 0.55662781, -0.341017067, 0.249938026, 0.715125084},
+    {1996, 0.559449613, -0.342645437, 0.254273921, 0.710601866},
+    {1997, 0.562393367, -0.344362825, 0.25892657, 0.705751419},
+    {1998, 0.565491617, -0.346226096, 0.264070958, 0.700437963},
+    {1999, 0.568905056, -0.347337663, 0.26877445, 0.695315659},
+    {2000, 0.571638286, -0.34900406, 0.273507476, 0.690376401},
+    {2001, 0.573611736, -0.349143326, 0.275676936, 0.68780148},
+    {2002, 0.57393229, -0.35029009, 0.277448356, 0.686236799},
+    {2003, 0.573392928, -0.351632625, 0.278705359, 0.685491443},
+    {2004, 0.572851717, -0.353101045, 0.279940546, 0.68468529},
+    {2005, 0.57248044, -0.354828954, 0.28169468, 0.683381855},
+    {2006, 0.572783113, -0.35570237, 0.283194333, 0.68205297},
+    {2007, 0.573640585, -0.35635218, 0.285008639, 0.680235028},
+    {2008, 0.574541688, -0.35748592, 0.287474483, 0.677837908},
+    {2009, 0.575285614, -0.35860014, 0.289807737, 0.675621092},
+    {2010, 0.575845242, -0.359126329, 0.2911807, 0.674273193},
+    {2011, 0.575650692, -0.359859735, 0.291935772, 0.673721611},
+    {2012, 0.575487494, -0.360319048, 0.292357802, 0.673432529},
+    {2013, 0.574914455, -0.361667216, 0.293572366, 0.672670484},
+    {2014, 0.574400902, -0.362879038, 0.294556111, 0.672026098},
+    {2015, 0.574243486, -0.363638401, 0.295448035, 0.671358287},
+    {2016, 0.574701011, -0.363766491, 0.296181202, 0.67057395},
+    {2017, 0.574722052, -0.364648938, 0.29739818, 0.669537187},
+    {2018, 0.574086428, -0.366060704, 0.298578233, 0.668786526},
+    {2019, 0.573402107, -0.367220998, 0.299396515, 0.668371558},
+    {2020, 0.573410869, -0.367256641, 0.299470514, 0.668311298},
+    {2021, 0.573446035, -0.367280692, 0.299488425, 0.668259919},
+    {2022, 0.573402226, -0.367298603, 0.299477398, 0.668292642},
+    {2023, 0.573417425, -0.367274553, 0.299490035, 0.668287098},
+    {2024, 0.573411286, -0.367305756, 0.299497515, 0.66827184},
+    {2025, 0.573419034, -0.367319822, 0.29950732, 0.668253064},
+    {2026, 0.573410451, -0.367302746, 0.299515098, 0.668266356},
+    {2027, 0.573384523, -0.367318094, 0.29952991, 0.668273568},
+    {2028, 0.573418558, -0.367335677, 0.299536258, 0.668231845},
+    {2029, 0.573400736, -0.36733374, 0.299523979, 0.66825366},
+    {2030, 0.573386669, -0.367323726, 0.299546987, 0.668260932},
+    {2031, 0.573569298, -0.366991818, 0.299259245, 0.668415427},
+    {2032, 0.573640049, -0.366800457, 0.299075603, 0.668541908},
+    {2033, 0.573635221, -0.366781592, 0.299110621, 0.668540835},
+    {2034, 0.573631585, -0.366788536, 0.299098432, 0.668545544},
+    {2035, 0.573638499, -0.366801888, 0.299087018, 0.668537319},
+    {2036, 0.573638499, -0.366788447, 0.299113601, 0.668532908},
+    {2037, 0.573616266, -0.366794437, 0.299100101, 0.668554664},
+    {2038, 0.573635697, -0.366806924, 0.299099952, 0.668531299},
+    {2039, 0.573630691, -0.36680308, 0.299118549, 0.668529332},
+    {2040, 0.573608398, -0.366795212, 0.299114436, 0.668554664},
+    {2041, 0.573625863, -0.366801381, 0.299112976, 0.668536901},
+    {2042, 0.573623776, -0.366816103, 0.299118817, 0.66852802},
+    {2043, 0.573615432, -0.366811067, 0.299116671, 0.668538868},
+    {2044, 0.573617578, -0.366821498, 0.299119145, 0.668530226},
+    {2045, 0.573617876, -0.366838813, 0.299130023, 0.668515623},
+    {2046, 0.573610306, -0.366834223, 0.299127221, 0.668525815},
+    {2047, 0.573592722, -0.36683467, 0.299132138, 0.668538451},
+    {2048, 0.573604286, -0.366839975, 0.299140424, 0.668521941},
+    {2049, 0.57359755, -0.3668468, 0.299139172, 0.668524563},
+    {2050, 0.573584616, -0.366835147, 0.299145609, 0.668539166},
+    {2051, 0.573590577, -0.366841316, 0.299160957, 0.668523788},
+    {2052, 0.573583543, -0.366858751, 0.299154609, 0.668523133},
+    {2053, 0.573576152, -0.366854608, 0.299172044, 0.668523848},
+    {2054, 0.573564112, -0.366861731, 0.299188584, 0.668522894},
+    {2055, 0.573564112, -0.366878361, 0.299192727, 0.668511927},
+    {2056, 0.573559225, -0.366880834, 0.299202889, 0.668510258},
+    {2057, 0.573539138, -0.366886437, 0.299218953, 0.668517232},
+    {2058, 0.573535323, -0.36689657, 0.299221843, 0.668513596},
+    {2059, 0.573533535, -0.366909832, 0.299229771, 0.668504298},
+    {2060, 0.573522329, -0.36691466, 0.299248666, 0.668502808},
+    {2061, 0.573514342, -0.366921991, 0.299253613, 0.668503523},
+    {2062, 0.57350719, -0.366942972, 0.299260885, 0.668494821},
+    {2063, 0.5734936, -0.366948038, 0.2992782, 0.668496013},
+    {2064, 0.573478103, -0.366958231, 0.299286783, 0.668499887},
+    {2065, 0.573477268, -0.366977543, 0.299297035, 0.668485403},
+    {2066, 0.573466003, -0.366987646, 0.299314559, 0.668481648},
+    {2067, 0.573445439, -0.366999567, 0.299324393, 0.668488264},
+    {2068, 0.57343173, -0.367011249, 0.299345523, 0.668484151}};
 static const std::vector<Eigen::Vector3f> outputs = {
-    {87.724789669891,2.87013200853753,0},
-    {87.7251646880435,2.86980794547854,0},
-    {87.7255658212797,2.86969162939705,0},
-    {87.7254454841304,2.86892340692927,0},
-    {87.7257764963664,2.87017893090998,0},
-    {87.7262247666344,2.86976920459143,0},
-    {87.7256686494918,2.87026355483494,0},
-    {87.7246008496925,2.87022446648878,0},
-    {87.7250208743746,2.87088890883874,0},
-    {87.7275457944992,2.87031988060639,0},
-    {87.7268950718383,2.86966198115272,0},
-    {87.7256709755773,2.86928740479807,0},
-    {87.7266670527937,2.86821605460405,0},
-    {87.7277500012458,2.86707554084669,0},
-    {87.7270781789425,2.86744421729087,0},
-    {87.7286446711478,2.86795830718744,0},
-    {87.7293497565107,2.86921016967116,0},
-    {87.7273327146943,2.86865367243725,0},
-    {87.7268329794578,2.86874904562473,0},
-    {87.7277813905976,2.86800057877074,0},
-    {87.7276097023265,2.86923717620821,0},
-    {87.7267423037784,2.86908793780053,0},
-    {87.7770996413614,2.79851252907386,0},
-    {88.2829150723259,2.70951054038937,0},
-    {89.2672911099196,2.52764020011994,0},
-    {90.5162822704166,2.30196338980435,0},
-    {91.6872532023601,2.13131652311386,0},
-    {92.590945479754,1.95589143650237,0},
-    {93.2677409726842,1.79081382001768,0},
-    {93.9535804613107,1.60310222375385,0},
-    {94.7986455349353,1.39048645960254,0},
-    {95.7639276325223,1.20603532663125,0},
-    {96.4230492302468,0.994896822365639,0},
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+    {99.3824791682574, 56.5754171646123, 0},
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+    {99.3800084862834, 56.4858170584506, 0},
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+    {99.3795567638752, 56.4865290057364, 0},
+    {99.3794181672726, 56.4869124224053, 0},
+    {99.3775863850961, 56.4877700026365, 0},
+    {99.3814764330576, 56.4872751429854, 0},
+    {99.3789105495902, 56.4884786294165, 0},
+    {99.3782783151039, 56.4896508468317, 0},
+    {99.3815411708035, 56.4885419438711, 0},
+    {99.3793089510769, 56.4890231668162, 0},
+    {99.3791839099028, 56.4909759448686, 0},
+    {99.3804399371058, 56.4903075485663, 0},
+    {99.3799862554938, 56.4915476221146, 0},
+    {99.3791936615888, 56.4941748526574, 0},
+    {99.3803863678858, 56.4934999298479, 0},
+    {99.3823868283932, 56.493970980352, 0},
+    {99.3802745481433, 56.4951736095534, 0},
+    {99.3812629033792, 56.495753704272, 0},
+    {99.382537780268, 56.4951405597261, 0},
+    {99.3806755153017, 56.4970259202392, 0},
+    {99.3820589938741, 56.4982395459684, 0},
+    {99.3818184103235, 56.4992926770323, 0},
+    {99.3822768706303, 56.5013860330183, 0},
+    {99.3819908208527, 56.5033866025187, 0},
+    {99.381941760934, 56.5044777528465, 0},
+    {99.3835021819093, 56.5063902684403, 0},
+    {99.3838019382633, 56.5076499505579, 0},
+    {99.3834884312105, 56.5096329955751, 0},
+    {99.3836684895793, 56.5116949373161, 0},
+    {99.38440286864, 56.512834090166, 0},
+    {99.3848408609022, 56.5155438830341, 0},
+    {99.3854568171595, 56.5174941926777, 0},
+    {99.3869270048835, 56.5192369583973, 0},
+    {99.3863242064146, 56.5220159079075, 0},
+    {99.3866027595312, 56.5244931249618, 0},
+    {99.38864752941, 56.5265269857046, 0},
+    {99.3890047354277, 56.529460704988, 0}};
-- 
GitLab


From a0c325b058e56d9ac973b12229e379aa6f08163b Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Thu, 9 May 2024 22:28:29 +0200
Subject: [PATCH 6/6] [SkyQuaternion] Enhanced definition of R matrix

---
 src/shared/utils/SkyQuaternion/SkyQuaternion.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
index b045f411c..1c6f25286 100644
--- a/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
+++ b/src/shared/utils/SkyQuaternion/SkyQuaternion.cpp
@@ -92,13 +92,13 @@ Vector3f quat2stepperAngles(const Vector4f& q)
     float qw = q[3];
 
     Vector3f angles;
-    Matrix3f R;
 
     // clang-format off
     //           DOWN                  EAST                    NORD
-    R << (2*(qw*qw + qx*qx)-1), -2*(qx*qy - qw*qz),     -2*(qx*qz + qw*qy),
-          2*(qx*qy + qw*qz),    -(2*(qw*qw + qy*qy)-1), -2*(qy*qz - qw*qx),
-          2*(qx*qz - qw*qy),    -2*(qy*qz + qw*qx),     -(2*(qw*qw + qz*qz)-1);
+    Matrix3f R{
+          {(2*(qw*qw + qx*qx)-1), -2*(qx*qy - qw*qz),     -2*(qx*qz + qw*qy)},
+          {2*(qx*qy + qw*qz),     -(2*(qw*qw + qy*qy)-1), -2*(qy*qz - qw*qx)},
+          {2*(qx*qz - qw*qy),     -2*(qy*qz + qw*qx),     -(2*(qw*qw + qz*qz)-1)}};
     // clang-format on
 
     // pitch: rotation of motor2 (how the Down-axis move on DN-fixed plane)
-- 
GitLab