Closed mmmfarrell closed 4 years ago
Ran this under manual control in the mocap room and the rqt_plot shows
the mocap NED line up perfectly with the estimator's output NED coordinates.
Also ran this using waypoint following in the mocap room, the drone was able to successfully follow those waypoints for the entire flight.
Fixed EKF ROS node to work using a "mocap" measurement.
In simulation using the
roscopter_sim multirotor.launch
launch file, the UAV flies off of its estimates using only/imu/data
andground_truth/odometry/NED
as a psuedo mocap measurement.Needs to be flown in hardware in the mocap room to make sure it really works.
Also fixed the random flip out that would sometimes happen in the Gazebo sim. This would happen due to uninitialized values being used to compute the forces applied to the UAV.