Theory and Math Behind RPG Quadrotor Control : Possible mistake

[YacineBenameur]

Please correct me if I'm wrong, but I think i spotted a mistake in your paer : Theory and Math Behind RPG Quadrotor Control.

The angular velocity omegaWB is equal to [p,q,r] in the body frame and not in the world frame as it appears to be stated in many equations (i.e equations (167) and (168)).

[foehnx]

Dear @YacineBenameur

You are correct. In fact I think that according to the euqations, all used representations of the bodyrate should be in body frame but are wrongly denoted as in world frame.
@mfaessle could you confirm this?

[mfaessle]

@foehnph I confirm there are some mistakes with the indexes and I agree that they are wrongly denoted as in world frame. There might be more of these little inconsistencies and mistakes since this document was put together from many documents and papers we wrote over the years.
@YacineBenameur I'd be happy to review a pull request with fixes if you are motivated ;) Otherwise it might happen that I look into this in a very motivated hour.