Add quaternion attitude control scripts #1
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xdwgood
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quaternion_attitude_control/quaternion_attitude_control_test.py
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The context is in the description of PX4/PX4-Autopilot#11051
I added scripts for the basic calculation and visualization of the quaternion attitude controller:
PX4/PX4-Autopilot#8003
https://github.com/PX4/Firmware/blob/6a5108269e892636826073fd41cbc8eddf57e891/src/modules/mc_att_control/mc_att_control_main.cpp#L543-L599
It's a refactored, pythonized copy of what I used to prototype in Matlab before the controller was introduced. I'm after solving the kind of unexpected results which happen in the cases that is simulated by the test script how it currently is. I'll modularize and enhance the scripts and resolve the case now.