After conferring with Dr. Beard, we found that the GPS error model approximation from the UAV book was incorrect, which is why using the gazebo simulation required a really small gps st_dev to give any good results with quadrotor flight. It was an easy fix, the notes are attached.
After conferring with Dr. Beard, we found that the GPS error model approximation from the UAV book was incorrect, which is why using the gazebo simulation required a really small gps st_dev to give any good results with quadrotor flight. It was an easy fix, the notes are attached.