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Notes from Jonas
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JacopoPan authored Jun 7, 2024
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Expand Up @@ -114,6 +114,11 @@ If you wish, please cite our [IROS 2021 paper](https://arxiv.org/abs/2103.02142)
## Desired Contributions/PRs

- [ ] Add motor delay, advanced ESC modeling by implementing a buffer in `BaseAviary._dynamics()`
```
Some work on system identification (submitted to IROS): https://arxiv.org/abs/2404.07837
TL:DR: estimated to be a first-order time constant of around 72ms
In the learning to fly paper it was assumed much higher (150ms) based on some prior work and not so accurate reading from bitcraze's step response
```
- [ ] Replace `rpy` with quaternions (and `ang_vel` with body rates) by editing `BaseAviary._updateAndStoreKinematicInformation()`, `BaseAviary._getDroneStateVector()`, and the `.computeObs()` methods of relevant subclasses

## Troubleshooting
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