body rotation influence on angular acceleration about data-driven-dynamics HOT 3 OPEN

@manumerous Yes, but probably for this to be observable, we need the rotational velocity of the rotors.

For multirotors, as long as the coordinate frame is aligned with the principle axis of the drone, omega X I omega is zero. So ignoring this effect is not too bad.

For other platforms, this may introduce some problems. Lets note that we are ignoring this effect and revisit this after we resolve more urgent problems in this repository.

from data-driven-dynamics.

    `X_body_rot_coef_list = ["I_yy-I_zz", "I_zz-I_xx", "I_xx- I_yy"]`

Are we actually estimating the moment of inertia? or are we just calculating the difference?

• This doesn't seem to appear in the model results

from data-driven-dynamics.

@manumerous I think I am now extremely confused by this formulation. Where is the inverse of the moment_of_inertia applied?

from data-driven-dynamics.