Trackers - how to get access to some physical values

[bconvens]

Hello,

The Se3Controller's init function takes as input also the UAV's mass, gravity constant, and motor parameters A and B.
How can I get access to these variables inside a custom tracker I want to create?

Thanks!
Best,

[klaxalk]

Hey, good question. You can't. So far I did not need them in a tracker. However, I acknowledge that they might be used, so I am going to update the tracker interface, so both the trackers and the controllers will get the same info. I will keep you posted.

[klaxalk]

Hey Bryan, Merry Christmas!! I updated the controller and tracker interface. Now, you can get the following from the common_handlers, that are passed to trackers and controllers:

• common_handlers->motor_params
• common_handlers->g ultimately passed from the core.launch to all core nodes
• common_handlers->getMass() gets you the current estimated UAV mass

The motor_params now follows a new format defined in mrs_lib, pls check mrs_uav_system#33.

Sincerely, Tomas