Closed mzahana closed 4 years ago
@mzahana A log would be helpful. Are you running the latest master(mavros_controllers)? which firmware are you running?
Thanks for reporting, I can reproduce the issue. Added a fix in #128
@mzahana Can you test it out and verify that this has been fixed?
@mzahana I believe the unstable takeoff is not related to this issue. Could you maybe retune the position controller so that the takeoff is less aggressive?
@Jaeyoung-Lim Which position controller are you referring to?
@mzahana The geometric_controller
in this repo. I also see the aggressive takeoff and seems like the takeoff procedure has changed in the firmware side.
@Jaeyoung-Lim I am confused, I thought attitude rates and thrust setpoints are used. Therefore, the PX4 position controller is not used. Is there a takeoff procedure in the geometric_controller
that uses the PX4 position controller?
@mzahana No, you are right, it uses attitude rates and thrust setpoints.
The geometric_controller
IS a position controller. I meant retuning the PID gains inside the geometric_controller
which defines the reference acceleration. I believe there is a spool up logic when the vehicle is in takeoff phase that is built into px4 and there was a change in that recently.
My suspicion might not be true, but the aggressive takeoff behavior is something that was not there with older PX4 firmware versions
I still don't understand how would PX4 differentiate a takeoff maneuver from another arbitrary maneuver when it receives attitude rates as OFFBOARD commands. I believe that it would just track them, whether they correspond to takeoff or not. What do you think?
For the geometric_controller gains, you mean those ?
@mzahana You might be right, I was just speculating. Yes, that is correct. Usually Kp_z
, and Kv_z
will be the relevant ones
Hi @Jaeyoung-Lim , is this fixed? because I am facing the same issue
@shubham-shahh It should be fixed.
Hi @Jaeyoung-Lim
I would like the drone's heading to be in the velocity direction, but I am not sure if the controller is properly implemented for that. So, I set velocity_yaw to true. However, the drone starts to oscillate and eventually crashes. Any idea what could be the issue?