Feature/state estimation

[surajkiron]

This branch encorporates 2 primary changes include the addition of a new State struct 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:

• Added a new State struct in src/lib.rs with 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.
• Updated the main simulation loop in src/main.rs to use the new State struct 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:

• Added a new configuration option add_noise_to_control in config/quad.yaml and src/config.rs to control whether IMU noise is added to the state estimation for control purposes. [1] [2]

Codebase Adjustments:

• Updated imports in src/main.rs to include UnitQuaternion from the nalgebra crate, which is used in the new State struct 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.

[Copilot]

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.