Implement PD control loop for magnetic moment calculation#4
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Input: wanted quaternion, error quaternion, angular velocity (axis-angle), magnetic field Output: wanted magnetic moment Intermediary: Can output wanted torque as well, the torque to magnetic moment conversion is done in a separate function called "tau_to_m". Removing the "tau_to_m" function in the "get_m" function will output the toque.
Used the quat2rotation function from quat.c in the error axis angle function
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Input: wanted quaternion, error quaternion, angular velocity (axis-angle), magnetic field
Output: wanted magnetic moment
Intermediary: Can output wanted torque as well, the torque to magnetic moment conversion is done in a separate function called "tau_to_m". Removing the "tau_to_m" function in the "get_m" function will output the toque.