nhfc-genom3 2.0 released
- Generalize geometry parameters (using a 'G' matrix instead of hardcoded quadrotor geometry). The number of controlled rotors is set from the zero rows of the G¯¹ matrix.
- Implement an external wrench observer. set_wo_zero() can be used to set the bias by assuming no external disturbance is present during the process. The computed external wrench is logged in the log file.
- Add compliance with an admittance controller.
- Print more precise emergency messages on stderr.
- Switch to openrobots2-idl