Use sliding window and higher unmeasured cov

test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml

@@ -16,7 +16,11 @@ config:
         L: [1,1,1]
       time_tolerance: 0.1
     tree_manager: 
-      type: "None"
+      type: "TreeManagerSlidingWindow"
+      plugin: "core"
+      n_frames: 3
+      n_fix_first_frames: 1
+      viral_remove_empty_parent: true
   map:
     type: "MapBase"
     plugin: "core"
@@ -44,7 +48,7 @@ config:
     plugin: "bodydynamics"
     time_tolerance: 0.1
     apply_loss_function: false
-    unmeasured_perturbation_std: 0.00000001
+    unmeasured_perturbation_std: 0.0001
     state_getter: true
     state_priority: 1
     n_propellers: 3