Questions regarding fully actuated PX4

castacks / PX4-fully-actuated

PX4 autopilot extended to fully-actuated multirotors

BSD 3-Clause "New" or "Revised" License

33 stars 8 forks source link

Closed Jaeyoung-Lim closed 8 months ago

Jaeyoung-Lim commented 2 years ago

Hi @castacks

Great work on the fully actuated integration!

Before I dig in to the code, I have a few questions regarding the implementation in this repository.

How does this relate to the control allocation work that has been done in PX4? Are they aligned? or is the implementation completely orthogonal?
Are there any plans / interests to upstream the fully actuated features to upstream PX4?

Thank you in advance!

Jaeyoung-Lim commented 8 months ago

@keipour @mmousaei Closing, since now PX4 upstream supports fully actuated systems through the control allocation framework: https://docs.px4.io/main/en/frames_multicopter/omnicopter.html