models: replace outdated vehicle_angular_acceleration topic with sensor_combined/gyro

Signed-off-by: Silvan Fuhrer <[email protected]>

Author: sfuhrer

Tools/parametric_model/configs/quadplane_model.yaml

@@ -174,19 +174,14 @@ dynamics_model_config:
           - "accelerometer_m_s2[0]"
           - "accelerometer_m_s2[1]"
           - "accelerometer_m_s2[2]"
+          - "gyro_rad[0]"
+          - "gyro_rad[1]"
+          - "gyro_rad[2]"
         dataframe_name:
           - "timestamp"
           - "acc_b_x"
           - "acc_b_y"
           - "acc_b_z"
-      vehicle_angular_acceleration:
-        ulog_name:
-          - "timestamp"
-          - "xyz[0]"
-          - "xyz[1]"
-          - "xyz[2]"
-        dataframe_name:
-          - "timestamp"
           - "ang_acc_b_x"
           - "ang_acc_b_y"
           - "ang_acc_b_z"

Tools/parametric_model/configs/quadrotor_model.yaml

@@ -91,18 +91,6 @@ dynamics_model_config:
   estimate_angular_acceleration: True
   data:
     required_ulog_topics:
-      #Use with simulator logs only, disable estimate_angular_acceleration when using
-      # vehicle_angular_acceleration:
-      #   ulog_name:
-      #     - "timestamp"
-      #     - "xyz[0]"
-      #     - "xyz[1]"
-      #     - "xyz[2]"
-      #   dataframe_name:
-      #     - "timestamp"
-      #     - "ang_acc_b_x"
-      #     - "ang_acc_b_y"
-      #     - "ang_acc_b_z"
       actuator_outputs:
         id: 0
         ulog_name:
@@ -159,9 +147,14 @@ dynamics_model_config:
           - "accelerometer_m_s2[0]"
           - "accelerometer_m_s2[1]"
           - "accelerometer_m_s2[2]"
+          - "gyro_rad[0]"
+          - "gyro_rad[1]"
+          - "gyro_rad[2]"
         dataframe_name:
           - "timestamp"
           - "acc_b_x"
           - "acc_b_y"
           - "acc_b_z"
-      
+          - "ang_acc_b_x"
+          - "ang_acc_b_y"
+          - "ang_acc_b_z"

Tools/parametric_model/configs/standardplane_model.yaml

@@ -171,19 +171,14 @@ dynamics_model_config:
           - "accelerometer_m_s2[0]"
           - "accelerometer_m_s2[1]"
           - "accelerometer_m_s2[2]"
+          - "gyro_rad[0]"
+          - "gyro_rad[1]"
+          - "gyro_rad[2]"
         dataframe_name:
           - "timestamp"
           - "acc_b_x"
           - "acc_b_y"
           - "acc_b_z"
-      vehicle_angular_acceleration:
-        ulog_name:
-          - "timestamp"
-          - "xyz[0]"
-          - "xyz[1]"
-          - "xyz[2]"
-        dataframe_name:
-          - "timestamp"
           - "ang_acc_b_x"
           - "ang_acc_b_y"
           - "ang_acc_b_z"