Quadrotor simulations.

[patchedByBatman]

Closed as a different approach was being considered using #79 LQR and #78 KF.

This was a draft

Main Changes

This is an attempt to simulate the actual quadrotor based on the test data. The simulations are done part by part, and each part is simulated based on the experimental data obtained by testing that particular part. Although this does not replicate the actual drone exactly, it attempts to match the actual drone's behaviour, in terms of time domain response parameters of the linearized system, as closely as possible.

The simulation has two different sets of drone models and they are:

1. A drone model built part by part based on actual experimental data, which attempts to mimic the actual drone behaviour. Let us call this actual model.
2. A mathematical model of the drone. Let us call this mathematical model.

Then we utilize these models as follows:

1. We develop our control (and estimation if required) algorithm based on the mathematical model.
2. We then simulate this designed controller and apply the obtained control actions on the actual model.
3. We then simulate the actual model and obtain its output measurements (the measurements will be added with noise).
4. We then feed these measurements into our control algorithm and start over from step 2.

Tests

Test results will soon be updated here.