iNavFlight
Extend system to use quaternion attitude data for MSP interfaces and blackbox data
Current Behavior
Today, attitude data is exported to MSP and blackbox as Euler angles. Extend this to use quaternions instead for all attitude accurate recordings.
Desired Behavior
I've prototyped this change in inav, inav configurator, blackbox_decoder, and blackbox-explorer. I've added this in as a new blackbox option and anew MSP command.
Suggested Solution
for MSP add in a new out message that exports 4 floats for blackbox add in a new feature (public name QUAT, similar to ATTI) the related apps get similar changes
Who does this impact? Who is this for?
In my case, I have a co-processor to iNav which uses MSP to exchange state with iNav, and it operates using quaternions. Also I need to record attitude quaternion in blackbox data for post-flight review.
Note, the internal attitude state of inav appears to be a quaternion already. So this is not really changing the IMU or its state.
