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KumarRobotics / kr_mav_control

Code for quadrotor control
BSD 3-Clause "New" or "Revised" License
106 stars 42 forks source link

Add option to specify yaw at waypoints in the trajectory tracker #107

Open kartikmohta opened 5 years ago

kartikmohta commented 5 years ago

Currently the trajectory tracker does not touch the yaw, it maintains the initial yaw. The yaw should be allowed to change along the trajectory by specifying the yaw at the waypoints. This would require taking the time to yaw into account when computing the segment times.

Implementing the option to have yaw be tangential to the trajectory at every point is a bit hard in a simple tracker like this, so that is a task for another time :slightly_smiling_face:

tdinesh commented 5 years ago

How about adding a bool flag in TrajectoryTracker.action to parse yaw from waypoints?