Tune the simulator drone params to fit IRL; Clean up nomenclature

[theBadMusician]

The drone in the simulator needs to respond to inputs in the same way that the actual drone responds IRL. We have taken bags of desired forces, controller inputs, and odometry from the MC-lab which can be used to compare their behavior. The parameters that should be looked into are both the physical attributes of the drone (mass, cog, cob, dimensions, etc.) and the world parameters (gravity forces in x, y, z directions, density of water, hydrodynamics, etc.).

[TarekEl-Agroudi]

Todo: remove unneccesary references to manta