refactor: fix controls algorithm not gimbaling correctly#41
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Shengw3n
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Apr 6, 2026
Shengw3n
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Apr 6, 2026
Flight controls algorithm should only be ran during flight to prevent error accumulation in PID controller.
- compute_command_torque: add Kp and Kd gain matrices + angular rate feedback (spec eq 3.8). Was using raw phi with no gains or damping. - update_thrust_direction: use -z convention (spec eq 5.6). Was using +z which flipped s_t_hat from [0,0,-1] to [0,0,+1] after first step. - compute_gimbal_angles: match spec eq 5.7 signs for -z convention. - compute_gyroscopic_torque: omega x (I*omega), not (I*omega) x omega. - compute_thrust_magnitude: negate dot product for -z thrust convention. - Update all 93 unit tests to match corrected pipeline. 0 failures.
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