I think state space is wrong

[mlowell28]

Hi, I noticed the implementation of the state space is not correct, in particular you take the time derivative of angular velocity vector to be equal to the second derivative of the euler angles which I do not believe is correct. To fix it you need to change your state space so that it consists of euler angles and the angular velocity vector NOT the derivative of the euler angles. You can then associate the time derivative of the euler angles and the angular velocity vector using the formula given in the guys blog: https://andrew.gibiansky.com/blog/physics/quadcopter-dynamics/