No wind in wind triangle

[gellings]

We currently don't have wind implemented in the forces and moments (or truth) plugin. The problem is that the body frame wind model (from the book) doesn't work very well for multiple UAVs flight in the same wind. Should we use a world frame wind and rotate it into the body frame inside of the plugin? Does anyone care about this right now?

[plusk01]

related to byu-magicc/rosflight_plugins#2, byu-magicc/rosflight_plugins#4 and rosflight/rosflight_ros_pkgs#33

[plusk01]

Just came across this -- looks like a wind feature has made it into Gazebo 8.

PR: https://bitbucket.org/osrf/gazebo/pull-requests/1985/added-wind-support/diff

Item 38 in the change log: https://bitbucket.org/osrf/gazebo/src/default/Changelog.md?fileviewer=file-view-default

[gellings]

I think the problem is we calculate our own aerodynamic forces and moments according to how it's done in the UAVbook. We could start using the Gazebo aerodynamics instead and see if it works just as good.