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Fix quaternion gimbal lock #3538

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Fix quaternion gimbal lock #3538

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b56db07
Fix quaternion Euler conversion for negative gimbal lock
vr4guid Jun 2, 2025
6f4cda6
Merge pull request #2 from vr4guid/codex/find-and-fix-bug-in-codebase
vr4guid Jun 2, 2025
1dd58a1
Merge branch 'ArduPilot:master' into master
vr4guid Oct 23, 2025
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6 changes: 4 additions & 2 deletions quaternion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -429,8 +429,10 @@ def _dcm_to_euler(self, dcm):
dcm[0][2] + dcm[1][1]) + phi)
elif abs(theta + np.pi/2) < 1.0e-3:
phi = 0.0
psi = np.arctan2(dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1] - phi)
psi = np.arctan2(
dcm[1][2] - dcm[0][1],
dcm[0][2] + dcm[1][1]
) - phi
else:
phi = np.arctan2(dcm[2][1], dcm[2][2])
psi = np.arctan2(dcm[1][0], dcm[0][0])
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