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MRASL / mrasl_mav_traj

Trajectory utilities for MAVs
GNU General Public License v3.0
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Can you specify yaw? #3

Open rapop opened 5 years ago

rapop commented 5 years ago

Hi,

Can I specify the yaw of the quadrotor with the c++ version as with Matlab?

andre-nguyen commented 5 years ago

Unfortunately no, however I guess it would only take a few hours to add yaw to the trajectory since you simply add another dimension/optimization problem to solve and the order of the polynomial is different. For the matlab version, I had started adding the yaw but I never finished it (number of states = 3 so the yaw waypoints in W don't actually do anything). Something wasn't working with the yaw trajectory and I had decided to drop it to simplify things while I got the rest working.