Open jwangjie opened 5 years ago
Hi!
Recently I found a way of using the mav_linear_mpc
controller with the BebopS simulator of G. Silano. You are right, you need to use the appropriate allocation matrix. After some analysis, I ended up with this configuration:
allocation_matrix: [0.0, -1.0, -1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.0, 1.0, -1.0, 1.0, -1.0, 0.0, 1.0, 1.0]
PD: Don't forget to edit this line as follows:
sampling_time: 0.004 #IMPORTANT: set this equal to the rate of odometry msg
Inside your mav_linear_mpc/resources/MAV_NAME_linear_mpc.yaml file
. This is according to the publishing rate of the odometry inside the Bebop simulator (250 Hz in this case).
Hi there,
I am trying to use the package to control a Parrot Bebop together with
rotors_simulator
. The newly added quadrotor flies well using the lee_position_controller inrotors_simulator
, but crashed quickly when trying to use either linear or nonlinear MPC. I added a configuration file similar to PID_attitude_hummingbird.yaml with inertia tensor, arm length modifications, and I guess the immediate crash may because of the allocation_matrix. I wonder could you help me with this? Thank you so much for any advice.Regards, Jie