…modified and slightly tweaked the dynamics, and added basic controller generation.

Also updated plant Simulink model to mimic work done in TADPOLE Controls

…nctions (lacks testing for now)

…ditional GPS Update steps into the EKF, as right now it is only working based off of IMU + Magnetometer

…erly estimate accelerometer bias due to lack of measurements)

…lant disturbances

…plete documentation

…fix new packet detection

…ke it more dynamics.

Also retuned M-EKF and controller to simulate a GPS-aided flight without RTK.

…ight integrator w/o GPS)

…ed noise models.

Also increased unchecked coupling to about 5%.

…nside IMU conditional loop

…n step inside IMU conditional loop"

This reverts commit 37a6634.

(THIS HAS SECOND ORDER SENSORS BTW)

…ab run

* trying to implement full stack testing of controller output

need to import functions into those matlab_funcs and helpers file

* adding more functions

* adding more functions p2

* updating lastEMA with each iteration

* Update main.cpp

* undoing lastEMA change (unnecessary) and defining controller_out

* Update matlab_helpers.cpp

Added an ANF ( Adaptive Notch Filter ) folder, where the notch filter sequences for mechanical vibrations on the IMU are being developped.