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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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Where is heading_planner? #50

Closed dssdyx closed 4 years ago

dssdyx commented 4 years ago

I see there is a series of parameters named "heading_planner" in topo_algorithm.xml. But I can not change them to reduce the yaw rate and find where they are in codes. Could you tell me what these parameters mean ?

ZbyLGsc commented 4 years ago

These parameters are not used in the current planner but will be used in a future release. Currently the yaw is controlled to face toward the flight direction (or name it velocity tracing yaw). If you want to reduce the yaw rate, try reduce parameter: "optimization/lambda7". This will relax the velocity tracking constraint and enable higher smoothness.

The code for yaw planning is in "void FastPlannerManager::planYaw(const Eigen::Vector3d& start_yaw)".

dssdyx commented 4 years ago

@ZbyLGsc Thank you for your answer!