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AbdealiLoKo / quadrotor_control

A ros metapackage holding packages for quadrotor control
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Changing z target #31

Closed AbdealiLoKo closed 8 years ago

AbdealiLoKo commented 9 years ago

Currently, the quad moves well when we hover, then change z, then hover and keep doing this.

What about when the z target is continuously moving ? In such cases, it does eventually follow the moving point. This is pretty neat - but I dont think its optimal. If I ask it to go on a sin function from z=8 to z=12, this doesnt really follow that and only goes upto z=8.5 and z=11.5 ... this may be because I am expecting the quadrotor to change too fast?

AbdealiLoKo commented 9 years ago

Just realized that the issue is not the fact that I change the target too fast - it's the fact that the quadrotor assumes the target velocity to be 0. We need to do something to also give it a target velocity.