ku-ya / uav_geometric_controller Goto Github PK

• Get mass of the quad
• Use IMU for attitude control
• Check auto synch for times (ROS master time used for all?)
• Motor cutoff: find the origin of problem

Provide more detail about the issues of using Anaconda and ROS

• Instructions to fix path
• pip commands to install useful science packages - scipy, numpy, etc
• Instructions for python3 and python
• Instructions for installing python packages in user space rather than system

TLDR: Don't use Anaconda but simply use the system python interpreter

It might make sense to separate the functionality of ROS and the non-ROS related functions.

For example, the controller functions should simply accept the state, desired state, and constants and output the required Moment or Force.

A separate function should then output this value to ROS and the hardware.

This will enable easier testing using gtest

The mapping from controller moment to motor commands is done using

  // Given the UAV arm length of 0.31 m and a prop. angle of 15 deg.
  invFMmat <<  0.0000,    1.2879,   -0.1725,   -0.0000,    1.1132,    0.3071,
  -1.1154,    0.6440,    0.1725,    0.9641,   -0.3420,    0.7579,
  -1.1154,   -0.6440,   -0.1725,   -0.9641,   -0.7712,    1.7092,
  -0.0000,   -1.2879,    0.1725,         0,    1.1132,    0.3071,
  1.1154,   -0.6440,   -0.1725,    0.9641,   -0.3420,    0.7579,
  1.1154,    0.6440,    0.1725,   -0.9641,   -0.7712,    1.7092;

which is found here. It might make sense to make this a function rather than hard coded.

Some ideas:

Inputs: Motor arm length, angle of rotors, number of rotors
Outputs: Mapping matrix

I'll also give this a shot since it's easy and I probably can't screw it up too much

Python can read and output a bag file

• Ensure timing is consistent between messages. It's using the header stamp on each message
• Define the experiment epoch (start of roscore, user selected, something else?)
• Create publication quality plots on demand (flag in plotter). Use Latex for text, better colors, increase font sizes, and save as eps
• Flag to automatically save all plots

Change the motor power values to ros std multiarray

Use the various capabilities of logging to improve debugging using rosconsole

• Provide an example function of logging
• How to view the log using the console/terminal
• Set logging level parameters

make controller testing at compile with unit test functions

implementation for i2c communication for the class

Gains should be function of the system

Use a linear system analysis to relate the gains k_R and k_omega to settling time, and percent overshoot

I truly appreciate your work.

I am going to add PX4 standard messages to your project. My first impression of the code, it shouldn't be so complicated.

Is there any point or remarks that I need to be aware about this matter? A similar project would also be a great asset.

Another question, I want to use just part of Geo-controller (Position controller) and use PX4 to do the rest (basic controller). Can you also help me in this matter?

Cheers

Complete instructions

• Installing ROS
• Building the package
• run nodes in ROS
• View topics/messages
• Testing

keyboard input node prints white spaces onto the terminal

read and write correct RPY value to drone_variables