James Svacha
James Svacha
I agree. You want to linearize the system about the current estimate. Once you run the prediction, the estimate changes and so should the measurement Jacobian.
What would snap be used to compute? Desired angular accelerations? Is our onboard attitude controller even capable of taking those?
This makes sense. I'd just check the scaling factor on the moments. I made the scaling factor so that the moments would be what I expected to see caused by...