Justin Thomas

It was when loading models (which were saved in a file) in the Qualisys software while the node was already running. The model_list param was the default: []. On Fri,...

Sweet! This is great, but perhaps we could include snap in the PositionCommand and update so3_control accordingly before fully merging?

Sorry :-/ Feel free to merge :-P

@kartikmohta hehe, gotcha! @jsvacha, yes, angular accelerations. They are required to compute feedforward moments. In the current state, the SO(3) controller doesn't include them but it is a fairly straightforward...

Ahh, yes. Good point. Since the scaling factor is particular to the hummingbirds, we can determine the full range on the moments, so that should help.

I viewed this as a desirable option. Perhaps estop should turn off the motors regardless but the motors method should not allow it in flight?

As far as safety checks, I'm currently planning on a bounding box. What others do you think would be useful?