Nowdays, I am trying to understand PX4 Autopilot(Drone Flight Control Open Source) attitude control code. But I can’t understand formula below which is in attitude control code description. Can anyone explain how that formula is induced?
/* The axis angle can change the yaw as well (noticeable at higher tilt angles). This is the formula by how much the yaw changes:| let a := tilt angle, b := atan(y/x) (direction of maximum tilt)| **yaw = atan(-2 * sin(b) * cos(b) * sin^2(a/2) / (1 - 2 * cos^2(b) * sin^2(a/2))).** */