Missing acceleration state in SIL

[mwlock]

Regarding the (SIL) simulation backend, it seems that the acceleration is not yet implemented.

crazyswarm2/crazyflie_sim/crazyflie_sim/crazyflie_sil.py

Line 278 in 379601e

# TODO: state technically also has acceleration, but sim_data_types does not

How critical is this to the onboard controllers?

[whoenig]

I don't think any of the onboard controllers use this information. Feedback is on position and velocity, only.

[knmcguire]

Hi! Acceleration is indeed not really used indeed for PID or mellinger, but the INDI implementation does rely on it so it might be using that information.

[mwlock]

Thank you for the information!