Pt Reyes & U

So to fix the algebraic navigation, we now convert the orientation quaternion to eulers and back to a quaternion. The key is the integration is always done to the quaternion, not the temporary eulers.

The pure quaternion seemed to accumulate pirouettes while the euler obviously did not. The accumulated pirouettes caused the slerp operation to freak out.

Eliminating the Kalman filter is worth a lot of clockcycles & lines of code.

Through the magic of realtime satellite photos, snagged a rare view of Pt. Reyes in sunlight. In the 80's you couldn't know if Pt Reyes was clear without driving there.

Pt Reyes in sunlight raw footage (5 min 57 sec)