We are especially interested in tracking the MAV's state in a body fixed frame with respect to a user-specified inertial frame of reference, and how it reacts to disturbances. Moreover, a great interest lies also in observing how quickly an MAV can fly to a certain location, and again how accurately it stays around the specified setpoint.
In the first experiment, we will create a bag file of a flight with a Firefly, running the hovering example with logging enabled, by using the following command:
$ roslaunch rotors_gazebo mav_hovering_example.launch enable_logging:=true
The bag files will be stored in .ros-folder in the user's Home directory by default. Next, we will evaluate the controller by executing the following scripts: ...