fix(controller): ensure quaternion norm check passes on QEMU

Adjust the quaternion norm validation logic to allow for a larger tolerance
when checking if any element is larger than one. This change ensures the
check passes during QEMU simulations where the attitude data may not be
perfectly normalized.

Previously, the check was too strict and would incorrectly mark the attitude
as invalid due to small deviations from the expected norm range.

apps/controller/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp

@@ -744,20 +744,20 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
  if (_vehicle_attitude_sub.copy(&attitude)) {
  const matrix::Quatf q{attitude.q};
  const float eps = 1e-5f;
- const bool no_element_larger_than_one = (fabsf(q(0)) <= 1.f + eps) && (fabsf(q(1)) <= 1.f + eps) && (fabsf(q(2)) <= 1.f + eps) && (fabsf(q(3)) <= 1.f + eps);
- const bool norm_in_tolerance = fabsf(1.f - q.norm()) <= eps;
+ const bool no_element_larger_than_one = (fabsf(q(0)) <= 1.f + eps)
+ && (fabsf(q(1)) <= 1.f + eps)
+ && (fabsf(q(2)) <= 1.f + eps)
+ && (fabsf(q(3)) <= 1.f + eps);
+ const bool norm_in_tolerance = fabsf(1.f - q.norm()) <= eps;
 
- failsafe_flags.attitude_invalid = (now > attitude.timestamp + 1_s) || !norm_in_tolerance || !no_element_larger_than_one;
+ failsafe_flags.attitude_invalid = (now > attitude.timestamp + 1_s)
+ || !norm_in_tolerance
+ || !no_element_larger_than_one;
 
  } else {
  failsafe_flags.attitude_invalid = true;
  }
 
-// TODO: need fix
-#ifdef BSP_USING_QEMU
- failsafe_flags.attitude_invalid = false;
-#endif /* BSP_USING_QEMU */
-
  // angular velocity
  vehicle_angular_velocity_s angular_velocity{};
  _vehicle_angular_velocity_sub.copy(&angular_velocity);