Data-driven controller tuning for UAV firmware PX4
This Python Toolbox provides commands to design feedback controllers using the method Virtual Reference Feedback Tuning for the PX4 Firmware. The algorithms compute automatically PID gains for Pitch Rate, Roll Rate, Yaw Rate, Pitch Angle, Roll Angle and Yaw Angle.
Use PIP to install:
pip instal px4tuningThe toolbox provides a bash interface to directly compute the gains using the log file:
px4att file.ulg --plotDiego Eckhard - diegoeck@ufrgs.br - @diegoeck