Open fbenti opened 1 year ago
Do you also set an attitude or just a yawrate? Could you upload the log to https://logs.px4.io/ and share the link here please
I've also set the attitude. https://logs.px4.io/plot_app?log=9e036756-6219-4e61-8f88-1aa75e3c9383
The yawspeed is a feedforward, so you need to send a yaw setpoint that is the integral of that 0.1 rad/s if you want a ramp with constant speed.
Ok, I cannot just set the desired yaw only once, but I have to change it at every sampling step according to the sampling time, right?
I mean, if I start at yaw=0
and set the yaw_setpoint =1
(rad) and yawspeed = 0.1
(rad/s), it wouldn't reach the target in 10 seconds ?
In the first log attached, in the TrajectorySetpoint msg, I was giving yaw = desired_yaw
and yawspeed = yawspeed
.
Now, instead https://review.px4.io/plot_app?log=3e32b266-4225-47ba-8ba9-cbd9dfb27adb? So now in the trajectory msg, at every iteration I'm giving a yaw setpoint as yaw = curr_yaw + yawspeed
and set yawspeed = yawspeed
. Is this the right way of doing it? If so, what the purpose of setting the yawspeed?
Ok, I cannot just set the desired yaw only once, but I have to change it at every sampling step according to the sampling time, right?
Yes.
I'm giving a yaw setpoint as
yaw = curr_yaw + yawspeed
and setyawspeed = yawspeed
. Is this the right way of doing it?
Yes, but you should also consider the sampling time and use the previous yaw setpoint, not the current value: yaw = yaw + yawspeed * dt
If so, what the purpose of setting the yawspeed?
Yawspeed is a feedforward, it helps to have a better tracking. If you just set the yaw
, the drone will slightly lag behind the setpoint.
BTW, if you just want to control the yaw rate, you can also send yaw = NAN
and yawspeed = yawspeed
. This will open the yaw loop and only control the yaw rate.
I'm sending TrajectorySetpoint to the drone in order to rotate around its z axis, with low yaw speed, I set yawspeed to 0.1. However, it seems like the yawspeed parameter is not considered.
06_57_44.zip
I'm sending TrajectorySetpoint and OffboarddControlMode with only position set to True (but I also tried with attitude true, but nothing changed.