Feature/31 continuous cm estimation

[rcalaon]

• Tickets addressed: bsk-031
• Review: By commit
• Merge strategy: Merge (no squash)

Description

This module implements a sequential, weighted leas-squares algorithm to process torque measurements and triangulate the location of the center of mass, relying on the knowledge of the thrust vector and application point. At least two measurements are required to triangulate the location. The estimated CM location allows to stabilize the thrust vector in order to continuously dump momentum even in the presence of external disturbances such as SRP torque. Commit 1 adds a line to the cmake file to build the module in a new folder. Commit 2 adds a message containing estimated data and residuals. Commit 3 contains the initial module files. Commit 4 checks the connected messages. Commit 5 performs the actual LS estimation. Commits 6 and 7 contain the unit test and documentation, respectively.

Verification

A Unit Test is provided. Because this is an estimation, no exact result can be verified. However, this test checks the correctness of the results based on consideration regarding the estimated state error and covariance.

Documentation

Documentation is provided to explain how the estimator works.

Future work

The estimator can be expanded to include the unmodeled perturbation in the state, in order to properly estimate the CM and the unmodeled perturbation itself.

[patkenneally]

Legend:
🔻 Issues to address before merge
🔶 Requests that should not block merge, but should at least be discussed
🔵 Recommendations that can be ignored if desired

Let's have a quick chat and then this is good to pull in with minor adjustments. Nicely done!