omav reference angular acceleraion

ethz-asl / mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

Apache License 2.0

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omav reference angular acceleraion #109

Closed weixuanzhang closed 3 years ago

weixuanzhang commented 4 years ago

@maxb91 It seems that the reference angular acceleration in SquadOptimization::addToStates is not computed correctly, as states->at(i - 1).angular_velocity_W is zero when computing the omega_dot. See the code here: https://github.com/ethz-asl/mav_trajectory_generation/blob/af221a3cd51e27aedb8897c3bba80a93c2a187aa/mav_trajectory_generation/include/mav_trajectory_generation/impl/squad_optimization_impl.h#L84-L86 I can update the code upon confirmation. Shouldn't be too hard.

maxb91 commented 3 years ago

Nice catch! Fixed in 3bcdf63.

maxb91 commented 3 years ago

Amended previous commit to set last reference angular velocity and acceleration to zero. Was leading to weird behavior otherwise if constant nonzero references were published after finishing a trajectory. New commit: 14d430e2d8bd6d1e6e030d6b653b8808c6dbad6e