Check the current status of the state vector

The state vector is composed of 13 states consisting of:

• position expressed the inertial frame (x, y, z)
• quaternion for attitude representation (qw, qx, qy, qz)
• linear velocity expressed the body frame (vbz, vby, vbz)
• angular velocity expressed in the body frame (wx, wy, wz)

The position vector is built based on the MOCAP data, the quaternions are calculated based on the Euler angles of the stabilizer, the linear velocities are estimated using a numerical derivative, and finally, the angular velocity vector gathers the information of the Crazyflie's gyroscope.

To check the status of the state vector, use:

$ roslaunch crazyflie_controller meas_vector.launch