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ethz-asl / asctec_mav_framework

Framework for data aquisition and position control to be used with the highlevel processor of Ascending Technologies helicopters
http://www.ros.org/wiki/asctec_mav_framework
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asctec_hl_interface tutorial problem revisited #44

Open ghost opened 9 years ago

ghost commented 9 years ago

Hello Everyone Im tring to figure out the HLP position control tutorial for quite some tine now. http://wiki.ros.org/asctec_hl_interface/Tutorials/hlp%20position%20control

  1. I have set state_estimation: HighLevel_SSDK and position_control : HighLevel in the fcu_parametesr.launch . rostopic echo /fcu/status confirms the status. but in gynamic reconfigure gui of fcu the state_estimation and position_control is set to OFF. is this normal?
  2. im using ethzasl_ptam for pose estimation and remappping /vslam/pose to /fcu/pose . In sanity check 4.1.2 when i rotate the pelican around its Z axis (yaw) the valus for x and y readings also change which should not happen. what is ment by sending body fixed coordinates. ?
  3. plot_filter_bias shows the gains converginng to -0.49 to -0.52 which should be between +-0.1 m/s2. i changed the poles = [-15,-3,-0.2]; in matlab which gave me L = 18.20 48.60 9.00 . when i plugged these values in ssdk_parameters.launch file. the gains converged to +-0.1 but very slowly . what could be the problem ?

Thanks Farhan