TaoYibo

Implementation of angular_rate_error in roll_pitch_yawrate_thrust_controller.cpp does not match with the paper

4

According to _Control of complex maneuvers for a quadrotor UAV using geometric methods on SE(3)_ [https://arxiv.org/pdf/1003.2005.pdf](https://arxiv.org/pdf/1003.2005.pdf), the anglular rate error should be `Eigen::Vector3d angular_rate_error = odometry_.angular_velocity - R.transpose() * R_des...