Expanding tests for config files

[manumerous]

Currently there is only a basic set of tests of config files covering everything on the side of the dynamics model.

At some point the tests could be expanded by:

• testing that all actuator topics in the model_config are also contained in the required ulog topics.
• testing the data types and dimensions of each rotor parameter

Furthermore, it would be nice to have new separate test that validates all config files that are uploaded to the repo. This way we can ensure that the syntax is correct in all of them.

[manumerous]

With the addition of rotor diameters and rotor groups (https://github.com/ethz-asl/data-driven-dynamics/pull/67 ) to the rotor model there are a few additional points of failure that might not be totally obvious to a new user.

The rotor group was introduce for rotors that share the same properties so the optimizer will use the same motor coefficients for all of them. For this reason it also has to be assumed that all rotors in that group have the same diameter. This could be achieved by either:

• specifying the rotor diameter as a property of the rotor group in the config file
• checking that all rotors in the same group have the same diameter.

I personally tend for the first option.