Bracketing error in GNSS attitude models
In addition to the unrealistic turn depicted in issue #567 (closed), another unrelated error has been identified.
When attempting to add the strange turn it in the existing test framework by adding the relevant lines to
beta-crossing-BLOCK-IIA.txt data file, an exception was triggered.
The problem occurs during the attempt to locate the time at which the linear model reaches target yaw. The bracketing attempt uses steps that increase too fast (their size is doubled at each iteration), hence missing a pair of zero crossings.