Changed velocity sampling to be consistent with standard ALM definition #882
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psakievich
requested changes
Jul 19, 2023
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This PR is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 7 days. |
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This PR is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 7 days. |
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@psakievich , it looks like this has been ready for a while and escaped our radar. |
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@tonyinme let's get the CI passing and the branch updated. Then we can merge if you are happy with it. |
psakievich
approved these changes
Sep 26, 2023
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These changes improve the velocity sampling for the ALM in fixed wing applciations.
The previous definition rotated the velocity vector using quaternions.
This new implementation defines a local coordinate system and projects the velocity onto the local coordinate system.
The new implementation follows the implementation of SOWFA.