Implement conversions for angular velocity and acceleration representations

[AlexS12]

There are two modules in pyfme/models/state/ called angular_velocity and angular_acceleration. They are in charge of updating (p [rad/s], q [rad/s], r [rad/s], theta_dot [rad/s], phi_dot [rad/s], psi_dot [rad/s] and p_dot [rad/s²], q_dot [rad/s²], r_dot [rad/s²], theta_2dot [rad/s²], phi_2dot [rad/s²], psi_2dot [rad/s²]) but conversions are not implemented

[AlexS12]

• Next step: implementation of kinematic_angular_relations (p, q, r <--> theta_dot, phi_dot, psi_dot) . References can be found in (among many others):

  • https://www.princeton.edu/~stengel/MAE331Lecture9.pdf (page 6)
  • Gómez Tierno, M.A. et al, "Mecánica del Vuelo," Garceta, 2012, page 24
  • Etkin, B., "Dynamics of Atmospheric Flight", Dover Publications (2005), page 126

  unless there is another suggestion they will be implemented under utils package in an angular_kinematic_transformations.py module with names (suggestions are also welcomed): euler_rates_to_body_ang_vel and viceversa and their tests in utils\tests\...

  Hands up? I think this is an easy task for newcomers

• After that, system\models\state\angular_velocity.py will make use of the functions above.

• Finally, a similar procedure will be followed with angular accelerations. (We can progress in parallel if there's more than one person willing to contribute).