Update state interface to current cflib - #113
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main landed the body rate control interface as a squashed commit (#112), which conflicted with this branch's copy of the same work. Resolved in favour of main's reviewed structure and reapplied the 16-element state interface on top: - Examples use main's trajectory/control split with the 16D command. - test_body_rate_interface uses main's direct rate tracking test. - Docs keep main's wording, with the state command at 16D and body rate entries named wx, wy, wz. - Dropped the MellingerBodyRateData class that the merge duplicated.
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amacati
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Due to the implementation in cflib2 #13, we can implement it here as well. Had to change some docs and examples as well. I decided to always compute the state quat with
cmd[..., 9:13] = R.from_euler("z", yaw).as_quat(). This should prime users to also do it properly. However, users that just put zeros as state commands will experience errors. We could wrap the controller, but I think we shouldn't. The official cflib implementation would also just crash.Closes #76