The package contains Model Predictive Controller respectively for x and y position and a PD controller for z position of the UAV asctec Firefly.
In order to compile this package correctly, the following packages are required:
rotors_simulator: https://github.com/ethz-asl/rotors_simulator
waypoint_navigator: https://github.com/ethz-asl/waypoint_navigator
mav_control_rw: https://github.com/ethz-asl/mav_control_rw
firefly_controller: PD control, MPC and Kalman filter
firefly_gazebo_sim: launch files
firefly_waypoint_navigator: package list of a metapackage
only PD control for height (hovering and soft landing):
roslaunch firefly_gazebo_sim firefly_height.launch Send a reference waypoint using a service from the package
waypoint_navigator, but only the z value will be used as target height:
rosservice call /firefly/go_to_waypoint "point: [0, 0, 1]" Open the GUI of dynamic reconfigure, where
softlandingcan be enabled:
rosrun rqt_reconfigure rqt_reconfigure The UAV which has reached the target height 1m, will then land softly to the ground. If we disable
softlandingagain, the UAV will return to the previous target heigh 1m.
MPC for x and y, and PD control for z:
roslaunch firefly_gazebo_sim firefly_embedded_mpc.launch Need to wait for a while, until the message
[INFO] embedded MPC: initialized correctlyshows up in the command window. Because the calculation for initializing matrices of model and controller takes time. Then we can send a reference waypoint using a service from the packagewaypoint_navigator:
rosservice call /firefly/go_to_waypoint "point: [0.1, 0.2, 0.5]" The parameters of model, Kalman filter and controller can be changed in
firefly_controller/params/embedded_mpc.yamlandfirefly_controller/params/kf_observer.yaml. Note that the model parametersAandBneed to be the same in the two yaml files.