some problems when combining this project with the modified PX4 firmware"ethzasl_mav_px4"
sushiye opened this issue · 6 comments
hello, in the readme note it says that this project can work with PX4 firmware, i have tried and succeeded in the process. but i have got a problem that quadrotors with F330 model can't hover stably. the roll_pitch_yawrate_thrust calculated by the linear mpc was published to the modified mavros topic /mavros/setpoint_raw/roll_pitch_yawrate_thrust, but it changes too quick so the quadrotors can't hover. i think the reason may be that the model used in the linear mpc doesn't match with the PX4 quadrotors model or the roll_pitch_yawrate_thrust is published to the mavros topic too frequently. could you please give me some advice on how to make the quadrotors with F330 hover stably? thanks a lot!
hello, in the readme note it says that this project can work with PX4 firmware, i have tried and succeeded in the process. but i have got a problem that quadrotors with F330 model can't hover stably. the roll_pitch_yawrate_thrust calculated by the linear mpc was published to the modified mavros topic /mavros/setpoint_raw/roll_pitch_yawrate_thrust, but it changes too quick so the quadrotors can't hover. i think the reason may be that the model used in the linear mpc doesn't match with the PX4 quadrotors model or the roll_pitch_yawrate_thrust is published to the mavros topic too frequently. could you please give me some advice on how to make the quadrotors with F330 hover stably? thanks a lot!
I had the same problem with iris before but when I modified the model parameters, it can hover stably. So maybe you could try to modify the model patameters to match your quadrotors.
@WangJintao1998 hello, sorry for my late reply. I have been working on other projects for a long time, and recently I'm back for this project.
First, the reply for your question "how to work with the PX4 firmware": I publish the desired attitude to the modified PX4 firmware with the modified mavros, both of which are the "ethz-asl" provided.
Then, I wonder if you could tell me how you get the model parameters or give me your iris model parameters for reference? Because I use the iris model in this project,too.
PS: are you Chinese? I think we have some common points in our research and I wonder if we could talk more by WeChat or other messaging App.
hello, in the readme note it says that this project can work with PX4 firmware, i have tried and succeeded in the process. but i have got a problem that quadrotors with F330 model can't hover stably. the roll_pitch_yawrate_thrust calculated by the linear mpc was published to the modified mavros topic /mavros/setpoint_raw/roll_pitch_yawrate_thrust, but it changes too quick so the quadrotors can't hover. i think the reason may be that the model used in the linear mpc doesn't match with the PX4 quadrotors model or the roll_pitch_yawrate_thrust is published to the mavros topic too frequently. could you please give me some advice on how to make the quadrotors with F330 hover stably? thanks a lot!
I had the same problem with iris before but when I modified the model parameters, it can hover stably. So maybe you could try to modify the model patameters to match your quadrotors.
@WangJintao1998 谢谢你的回复。我的邮箱是irisanthony@foxmail.com, 请你把微信号发我邮箱，我来添加你！（因为在github上发微信号不太安全）