Closed wynn4 closed 5 years ago
@mmmfarrell @wynn4 what is the status of this? I noticed that in master the controller still doesn't use roll/pitch... but seems to work just fine.
It works, but not at high angles of pitch/roll. The whole control scheme is stupid though. The whole "model inverse" approach does a terrible job of handling large control inputs.
I will say, however, that this is exactly how we have done all of our flight tests in relative nav. If you don't supply large control inputs, it works.
I agree that the current control method seems lacking. Upping the gains (by a lot) on the 'w_PID' terms improved the overshoot from large changes in altitude significantly though. I committed new default gains a little bit ago that perform much better
Closing this because its really old and I added a new PR #38 that makes these changes obsolete
These are the changes Michael made to the controller to include pitch and roll mapping. There are also a couple other changes but I didn't look into them in great detail. We should check with Michael before pulling these in.