State estimation #1
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added and cleaned up both adatptive and reg EKF and SPKF
updated noise for crash and some other stuff.
fixed quaternion conventions to match fionna n gareths, and frame of reference stuff. works better now. Added Comp filter, but need to fix angular velocity frame
H-infinity works as EKF - not sure about H-inf part - so really only added EKF ?
also added estimator IC script to vary all ICs
about to redo weighting in SPKFs might need to revert
Square roots run, optimal adaptive doesn't really.
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norm constrained SPKF, got EKF position working (I think), reverted SPKFs back to kappa gain.
All the state estimators and their values used for ICUAS
modified EKF, and HINF to use error quaternion in the update step. This provides a more consistent estimate. Do the same for norm-constrained UKF?
commiting because I might need to revert one....
Updated all estimators to Hamilton convention. Set up estimators to run properly for paper sims. Tuned estimators for use with experimental data (non magnetometer correction).
Pushing last update before signing off.
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I'm not sure what this is going to do, I just want to be able to access my old commits