During the past week, I have been reexamining the linearization script I created for the attitude controller. The difference between results from my implementation and literature values might be attributed to 2 sources.
The assumption that the propeller speed in the body frame relative to earth roughly equals the propeller speed in the body frame relative to the body. In other words, the propeller speed is much greater than the angular velocity of the body relative to the earth in the body frame.
- The sampling rate, thereby delta t, is calculated differently.
The write-up is here for reference LInearization Analysis.docx