So guys, there are two new branches, the one is called "last_lab_working" which is the code that worked perfectly in the last lab with the difference that yaw, pitch and roll movements were too harsh.
The other one is called "new_edited_version" and basically I changed the way the motor values are computed in order for it to be more smooth. However, as I commented in another issue Wu should change again the joystick scales as I told him in that issue and we can test that as well. The only problem with that version is that we may need to calculate again the p, p1 and p2 values but this is like a 30 minutes procedure. This version is better in terms of smoothly controlling the drone and I suggest to keep that if it is proven so by the testing.
Also, we cannot divide the generated joystick value as we did, because by dividing the generated joystick values we narrow down the resolution so I think this is bad, that's why I thought of new way to calculate the motor values!!!!!!
So guys, there are two new branches, the one is called "last_lab_working" which is the code that worked perfectly in the last lab with the difference that yaw, pitch and roll movements were too harsh.
The other one is called "new_edited_version" and basically I changed the way the motor values are computed in order for it to be more smooth. However, as I commented in another issue Wu should change again the joystick scales as I told him in that issue and we can test that as well. The only problem with that version is that we may need to calculate again the p, p1 and p2 values but this is like a 30 minutes procedure. This version is better in terms of smoothly controlling the drone and I suggest to keep that if it is proven so by the testing.
Also, we cannot divide the generated joystick value as we did, because by dividing the generated joystick values we narrow down the resolution so I think this is bad, that's why I thought of new way to calculate the motor values!!!!!!