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ca051a46db
More realistic than plain constant movement. Implemented with white noise, low pass filter & feedback term ensuring we stay close enough to upright. Tuning knobs maybe not very intuitive at the moment. There are: - update rates alpha_v, alpha_w (bigger = faster movement) - amplitudes ampl_v, ampl_w (bigger = larger movement) - feedback gains pos_gains, attitude_gain (bigger = smaller movement) maybe we could remove the redundance between the latter two? Also: - overload setPlatformVelocity for different inputs - don't set aircraft pose at all (make sure with environment variable that it is on platform) - platform height = 2m defined in sdf file - rename pose -> navsat to be more precise - gz submodule update. heavier platform & initial pose.