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Attitude dynamics #65
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…e, and propagate to gyro
…s are trending correct but seem way too quick
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Summary
Attitude dynamics model implementation
Testing
new unittest, and by plotting quat + angular velocity in body frame and visually checking.
The visual check doesn't really pass. It dampens out way too quickly compared to Pietro's analysis last year (should take ~several hundred seconds instead of 3)
Notes
I'm worried about the precision of the integrator. For some reason I need to spec pretty lofty (1e-4) thresholds on things that should stay constant.
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