ghorn/rawesome — pull request #46 by kurtgeebelen (2013-10-28 16:39:38+00:00)
Title: Added disturbance forces and torques

I added disturbance forces and torques ( if 'useDisturbanceForcesAndTorques' is True and present in conf). They are added as control inputs and added to the aero forces and torques.

I also added 3 'dummy' control inputs (if 'useDummyAccelerationControls' is True and present in conf). They can be used if you want to do MHE using the disturbance forces, because with these disturbance forces, IMU_acceleration now depends on both states and controls. Using extra control inputs, and setting these equal to IMU_acceleration via a constraint, is a trick to have measurement functions depending on both x and u.