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[paparazzi-commits] [paparazzi/paparazzi] a71054: Fix incorrect in-fligh

From: GitHub
Subject: [paparazzi-commits] [paparazzi/paparazzi] a71054: Fix incorrect in-flight acceleration measurements ...
Date: Fri, 20 Oct 2017 05:33:33 -0700

  Branch: refs/heads/master
  Commit: a710548b6a8550690ed0642949bac7c576ebe0f0
  Author: Tom van Dijk <address@hidden>
  Date:   2017-10-20 (Fri, 20 Oct 2017)

  Changed paths:
    M sw/simulator/nps/nps_fdm_gazebo.cpp

  Log Message:
  Fix incorrect in-flight acceleration measurements in Gazebo (#2128)

* Fix Gazebo acceleration measurement

Gazebo's GetWorldLinearAccel() did not seem to take the ardrone's
velocity_decay into account, instead it measured the drone's
acceleration *without drag* which resulted in incorrect measurements
in-flight (the drone's acceleration in world frame did not go to
zero when the drone reached its steady-state velocity).

Fixed by manually deriving the drone's world velocity over time,
as in [Gazebo's own IMU 

Created an issue for Gazebo 

* Remove unnecessary whitespace changes

* Make dt (nps_fdm_gazebo.cpp:338) double instead of float

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