Computing the Attitude Percentage Error

Hello guys! I've been working on the accuracy and stability of the Pixhawk... and I've been wondering how it is to properly compute the percentage error of its flight... So I've been using the telemetry logs since I've only got to the SITL part... However I could not find the best way to solve for the attitude error...

For instance we have, desired roll values from the nav_roll to be [0 1 3 1 0] then we have the actual roll to be [0.1 0.9 2.5 0.9 0.1].... How do I compute the percentage error?

I couldn't actually use the (desired-actual)/desired per sample because I would then be dividing by zero... So I don't really know how to...

I have attached my sample telemetry log here and hopefully someone could help me compute the percentage error even for just one attitude parameter (roll, pitch, or yaw for instance)... Thanks!

2017-07-19 17-12-31.tlog

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