Should be able to send feed-forward moments in quadrotor_msgs:SO3Command
Opened this issue · 10 comments
See d335e01, we can cherry-pick the commit to master if this is really useful for multiple people.
Sweet! This is great, but perhaps we could include snap in the PositionCommand and update so3_control accordingly before fully merging?
So demanding! 😐
Sorry :-/ Feel free to merge :-P
Now you've put the snap idea in my head, cannot merge without it 😛
What would snap be used to compute? Desired angular accelerations? Is our onboard attitude controller even capable of taking those?
@kartikmohta hehe, gotcha!
@jsvacha, yes, angular accelerations. They are required to compute feedforward moments. In the current state, the SO(3) controller doesn't include them but it is a fairly straightforward extension. I'm happy to send some derivations along if that would help.
This makes sense. I'd just check the scaling factor on the moments. I made the scaling factor so that the moments would be what I expected to see caused by drag during forward flight, and I'm fairly confident that you want a larger range than that, especially if you want to do flips and such.
Ahh, yes. Good point. Since the scaling factor is particular to the hummingbirds, we can determine the full range on the moments, so that should help.