Feature/state estimation #30
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…ron/Peng into feature/state_estimation
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Pull Request Overview
This pull request implements a new State struct to encapsulate the quadrotor’s state and updates the simulation loop to optionally use IMU measurements with noise for state estimation. Key changes include:
- Introducing the State struct in src/lib.rs with methods for creating and updating state components.
- Modifying the main loop in src/main.rs to use the new State struct and integrate IMU noise when enabled.
- Adding a configuration option (add_noise_to_control) in config/quad.yaml and src/config.rs.
Reviewed Changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| src/main.rs | Updates simulation loop to use State struct and integrate noisy IMU data. |
| src/lib.rs | Defines the new State struct and related methods for state management. |
| src/config.rs | Adds the new configuration option for feeding IMU noise to control. |
| config/quad.yaml | Introduces the add_noise_to_control flag in the YAML configuration. |
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This branch encorporates 2 primary changes include the addition of a new
Statestruct to encapsulate the quadrotor's state and modifications to the main simulation loop to utilize this new state structure. Additionally, a configuration option to add noise to the IMU control has been added.State Management Improvements:
Statestruct insrc/lib.rswith methods to create, modify, and retrieve state components such as position, velocity, orientation, and angular velocity. Please provide feedback on whether this implementation needs to be modified.src/main.rsto use the newStatestruct for managing the quadrotor's state. This includes initializing the state and updating it based on IMU readings and control inputs. [1] [2] [3] [4]Configuration Enhancements:
add_noise_to_controlinconfig/quad.yamlandsrc/config.rsto control whether IMU noise is added to the state estimation for control purposes. [1] [2]Codebase Adjustments:
src/main.rsto includeUnitQuaternionfrom thenalgebracrate, which is used in the newStatestruct methods.These changes enhance the simulation's accuracy and flexibility by providing a more structured approach to state management and allowing for configurable noise in the control logic.