LQR_Quadrotor

Quadrotor control with Error-State LQR method

Lapacke configuration

(https://www.zhang-hb.com/2021/04/28/%E5%9C%A8ubuntu%E7%BC%96%E8%AF%91%E5%AE%89%E8%A3%85lapack%E5%92%8Clapacke/)

Citation

M. Farrell, J. Jackson, J. Nielsen, C. Bidstrup and T. McLain, "Error-State LQR Control of a Multirotor UAV," 2019 International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, GA, USA, 2019, pp. 704-711, doi: 10.1109/ICUAS.2019.8798359. (https://ieeexplore.ieee.org/document/8798359)

Getting Started

Install PX4 SITL(Only to Simulate)

Follow the instructions as shown in the ROS with Gazebo Simulation PX4 Documentation To check if the necessary environment is setup correctly, you can run the gazebo SITL using the following command

cd PX4-Autopilot
source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo
cd launch
roslaunch mavros_posix_sitl.launch

Running the code

roslaunch traj_server.launch

Bug

The scale factor does not have a negative sign.(I don't know which piece of code is written incorrectly):sob: