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Add module vehicle_model_estimator

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This module estimates the vehicle mass and inertia matrix.

It uses a least mean square algorithm between
delayed, low pass filtered, and time differentiated setpoints
(thrust and torque, respectively),
and low pass filtered and time differentiated accelerations
(linear and angular, respectively).
This commit is contained in:
Julien Lecoeur
2019-11-24 19:29:39 +01:00
parent fa842c7caf
commit 96c9f56e1b
7 changed files with 870 additions and 0 deletions
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msg/vehicle_model.msg
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# Vehicle model, mass and inertia matrix
uint64 timestamp # time since system start (microseconds)
float32 mass # vehicle mass
float32[9] inertia # vehicle inertia matrix