sfwa/ukf — pull request #8 by bendyer (2013-11-04 03:17:26+00:00)
Title: Added X8-specific dynamics model

The generic fixed-wing model wasn't defined for very large alpha/beta, so caused instability issues with ACADO. The new X8 model fixes that by yielding "reasonable" accelerations over almost the entire state space.

UKF performance is somewhat improved by this model as well (0.1–0.3° error reduction).