@drinkdhmo and I went through the controller and cleaned up a lot of things including:
Saturation limits now implemented by the PID class
reimplemented PID class anti windup for integrator
throttle command only dependent on desired z acceleration and current roll/pitch of uav (this fixed our issue that the uav would gain altitude when you perturb it away from its waypoint)
We tuned and flew waypoints today on the Planck F450 quad. I added the launch file and param file for this for reference.
The EKF in this package still needs to be tested and flown with. We were still flying with my fork of the VI-EKF estimator.
@drinkdhmo and I went through the controller and cleaned up a lot of things including:
We tuned and flew waypoints today on the Planck F450 quad. I added the launch file and param file for this for reference.
The EKF in this package still needs to be tested and flown with. We were still flying with my fork of the VI-EKF estimator.