Manual flight: same yaw rate for PID and Mellinger #338
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The PID and mellinger controllers had different behaviors (inverse yaw direction) in manual flight mode, see issue bitcraze#335. The root cause is that the legacy yaw input is actually inverse (with respect to the CF coordinate system). This change changes the sign accordingly before processing and fixes some other math issues related to yaw control. Tested with manual flight using PID and Mellinger controllers.
ataffanel
added a commit
that referenced
this pull request
Aug 2, 2018
|
Thanks for the PR. I added a commit to fix the yawrate sign in the commander_generic packets as well since it caused problem for assisted modes in the client (like for flying with the flow deck) |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The PID and mellinger controllers had different behaviors (inverse
yaw direction) in manual flight mode, see issue #335. The root cause
is that the legacy yaw input is actually inverse (with respect to
the CF coordinate system). This change changes the sign accordingly
before processing and fixes some other math issues related
to yaw control.
Tested with manual flight using PID and Mellinger controllers.