I was hoping to ask an AHRS question about EKF3, specifically in regards to the common Singularity found at ±90 degrees pitch up
Does EKF3 simultaneously calculate 2 separate euler angle reference frames from a common Quaternion output, one for Vertical, one for Horizontal? Or does it switch between them when a Vehicle (like a Tailsitter) is transitioning between Vert/Horiz?
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