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Drone does not pitch or roll
Roll Pitch Yaw is simulation output. Setpoint is motor omega setpoint. Shown are the first few timesteps
Roll, Pitch, Yaw: [0 0 0]
Setpoint: [ 0. 0. 141.42135624 141.42135624]
Roll, Pitch, Yaw: [0. 0. 0.00375]
Setpoint: [ 0. 0. 141.42135624 141.42135624]
Roll, Pitch, Yaw: [0. 0. 0.01119375]
Setpoint: [ 0. 0. 141.42135624 141.42135624]
Roll, Pitch, Yaw: [0. 0. 0.02227584]
Setpoint: [ 0. 0. 141.42135624 141.42135624]
Roll, Pitch, Yaw: [0. 0. 0.03694171]
Setpoint: [ 0. 0. 141.42135624 141.42135624]
EoM for rotation seem to be incorrect
Line 55 in 0311507
This is missing the "omega x I*omega" term from the newton-euler equations, right?
For example, see:
https://en.wikipedia.org/wiki/Newton%E2%80%93Euler_equations
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