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Add a nonlinear trajectory tracking controller. #284

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merged 1 commit into from
Jan 26, 2018

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whoenig
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@whoenig whoenig commented Jan 19, 2018

To test, follow these steps:

  1. compile the firmware with ESTIMATOR set to "kalman" and CONTROLLER set to "mellinger".
  2. roslaunch crazyflie_demo external_position_vicon.launch uri:=radio://0/100/2M/E7E7E7E728
  3. In "crazyflie_ros/crazyflie_demo/scripts": python execute_trajectory.py figure8withTakeoffAndLanding.csv

The controller can also be used with manual flight

To test, follow these steps:
1. compile the firmware with ESTIMATOR set to "kalman" and CONTROLLER set to "mellinger".
2. roslaunch crazyflie_demo external_position_vicon.launch uri:=radio://0/100/2M/E7E7E7E728
3. In "crazyflie_ros/crazyflie_demo/scripts": python execute_trajectory.py figure8withTakeoffAndLanding.csv

The controller can also be used with manual flight
@ataffanel
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Thanks a lot for the PR! We plan to look at it on Friday (the flight lab is a bit busy right now ... :).

@ataffanel ataffanel merged commit c604f2e into bitcraze:master Jan 26, 2018
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Thanks, it works fine with a Qualisys system too.
One question: at the end of the trajectory, the CF is held running at (0,0,0) and if I stop the execute_trajectory script with ctrl-C the CF will jump away. Is that something you have observed?

@whoenig
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whoenig commented Jan 26, 2018

Thanks! I've seen the issue and I am working on a fix for that. I already found the root cause: The controller doesn't handle the "timeout" setpoint sent here well. I hope that I can address it in the controller itself without changing the setpoint logic, but I am not sure yet.

@whoenig whoenig deleted the controller_mellinger branch January 26, 2018 17:23
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whoenig commented Jan 26, 2018

Update: I was able to fix the CTRL+C problem in controller_mellinger alone. I put a proposed fix for the issue in another PR: #288. I'll fix the other issue (CF not landing without CTRL+C) in crazyflie_ros.
What changes did you have to do to support Qualisys?

TracyDuX pushed a commit to philip-huang/crazyflie-firmware that referenced this pull request Jun 17, 2018
Add a nonlinear trajectory tracking controller.
@krichardsson krichardsson modified the milestones: Next release, 2018.10 Oct 18, 2018
cafeciaojoe pushed a commit to cafeciaojoe/crazyflie-firmware that referenced this pull request Sep 27, 2024
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3 participants