Attitude rendering in VisPy is wrong

[jpreiss]

Run pytest test_videoOutput.py and you will see output like the following image, but at this point in the trajectory the quadrotor has already accelerated away from the origin and should be decelerating to stop. The thrust should be pointed towards the origin.

Same problem happens if accelerating in x instead of y. However if we add some yaw to the goal state, the yaw is correct. So we are not just using the inverse rotation, I think...