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Pitt-RAS / iarc7_motion

Motion Planning and Control code for generic multirotor, developed for IARC Mission 7
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Feed forward for height #124

Closed aftersomemath closed 6 years ago

aftersomemath commented 6 years ago

Use feed forward for height hold which significantly increases performance.

This revealed scary bugs in the thrust model, linear motion profile generator, and some minor issues with the land planner. These were fixed.

Fixing these issues solved the height oscillation in the simulator and the crazyflie. Adding feed forward significantly reduced lag.

aftersomemath commented 6 years ago

Can this be merged then? Testing has revealed a great performance increase.

asaba96 commented 6 years ago

Can I review first?