"I agree. I have it check it once a second and it's usually fine, when not it's close enough that the normalize approximation I posted above works fine and it never does the square root. Is you're 1/sqrt() faster than taking path 2 in the FastNorm…"
"Yeah I didn't seen an obvious advantage either, but also didn't even attempt to simplify his matrix rotation - but I thought it was interesting, mostly because I couldn't find any other references to it.
"This mockup is missing acceleration control, but it does limit incremental target advancement to a specified rate and NLerps towards to final target along the shortest 'achievable' path. True acceleration limiting -> trapezoidal velocity control…"
"I'm not sure if you dabble in python much or not, but I kept going with that port to experiment with a quaternion based position controller... then borrowed some pygame/pyopengl example code to visualize it.
The controller I put together will let…"
"I think we're doing roughly the same thing.. I don't see where I'm accumulating in the world frame. I just wanted to keep the GyroDrift variable noise free, so it builds with it's own time constant towards correction_Body. "
"So I just tried the HQProp 8" reversible props. It hovered at about 60% throttle but drew 60 amps to do it! No vertical acceleration left to speak of. Dual 9's hover somewhere between 40 and 50% and draw about 30-40 amps. All-up weight is 1275g - I…"