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hku-mars / IPC

Integrated Planning and Control for Quadrotor Navigation in Presence of Sudden Crossing Objects and Disturbances
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请问实机飞行需要修改什么参数（What parameters need to be modified for real aircraft flight） #2

Open Mumuyoua opened 9 months ago

Mumuyoua commented 9 months ago

我们现在修改了两个参数，一个是悬停油门，一个是允许油门估计。 里程计和地图是fast lio给的 （We have now modified two parameters, one is hover throttle and the other is allow throttle estimation. Speedometer and map from fast lio）

Mumuyoua commented 9 months ago

the flight log I will give later

FENYUN323 commented 9 months ago

Yes, for other quadrotor platform, you should modify the hover throttle and the flag of throttle estimation these two parameters in param_real.yaml. As an example, we have provided parameter files for actual flight base on MaRS LAB's quadrotor: param_real.yaml and ipc_real.launch.

Mumuyoua commented 9 months ago

Yes, for other quadrotor platform, you should modify the hover throttle and the flag of throttle estimation these two parameters in . As an example, we have provided parameter files for actual flight base on MaRS LAB's quadrotor: and .param_real.yaml``param_real.yaml``ipc_real.launch

2023-10-13.zip We have modified these two parameters, but the drone is still unstable. Please refer to these two logs for details. I hope to receive your reply as soon as possible. I would greatly appreciate it.

Mumuyoua commented 9 months ago

According to this code, we estimated that the throttle value should be 0.3, but when we placed the drone there, the actual throttle value turned out to be 0.89. What could be the issue here and how should we modify it? Also, could you please explain the meaning of the highlighted parameters? 参数.zip

FENYUN323 commented 9 months ago

Note that when the quadrotor is not equipped with blades and stationary, the throttle estimation may diverge due to incorrect feedback errors. Besides, if you already know the hovering throttle, you can turn off the throttle estimate and fill in the throttle estimate in param_real.yanl. Before entering IPC control, there are the following operations:

  1. Please arming the quadrotor
  2. The quadrotor enters off-board mode (PX4 flight controller)
  3. IPC enters Command mode (you can modify the joystick definition by entering the RCInCallback function in planner.cpp)
Mumuyoua commented 9 months ago

请注意，当四旋翼飞行器未配备叶片和固定时，由于反馈错误，油门估计可能会发散。此外，如果您已经知道悬停油门，则可以关闭油门估计并在 param_real.yanl 中填写油门估计。在进入IPC控制之前，有以下几操作：

  1. 请武装四旋翼
  2. 四旋翼飞行器进入机外模式（PX4飞控）
  3. IPC 进入命令模式（您可以通过在 planner 中输入 RCInCallback 函数来修改操纵杆定义.cpp)

Thank you for your quick response to our inquiry. We have identified the cause of the previous drone crash. Our operational process involved initially taking off in position mode using the internal flight controller to reach a height of approximately 1 meter. We then activated the IPC and waited for the program to start before switching to offboard mode using the remote controller. This approach resulted in the IPC's commands, which were outputted after its activation, not directly affecting the drone's controls and leading to incorrect feedback. However, after reviewing your RC callback function, I noticed that it only has a hover mode and a command control mode. We have another question regarding the operations you mentioned earlier. Should these operations take place after the drone is armed and takes off or after the drone is armed on the ground but before takeoff?

FENYUN323 commented 9 months ago

Both of the operations you mentioned are fine. Best done after the drone is armed on the ground but before take off.

Ma29-HIT commented 3 months ago

我们现在修改了两个参数，一个是悬停油门，一个是允许油门估计。 里程计和地图是fast lio给的 （We have now modified two parameters, one is hover throttle and the other is allow throttle estimation. Speedometer and map from fast lio）

Hello, since the code of ROG-Map has not been released, I'm wondering if it can work that running IPC with only FAST-LIO in real.

FENYUN323 commented 3 months ago

Yes, this version of ipc has a simple map module.

Ma29-HIT commented 2 months ago

Yes, this version of ipc has a simple map module.

Besides, is PX4 1.12 suitable for flight in real? I know that there is some bugs in PX4 1.14. And are there any special params to pay special attention to?

cmakelabs commented 4 weeks ago

Thank you very much, I have the following questions:

  1. How to measure the throttle estimate in practice?
  2. Can it work with other LiDARs other than Livox Mid360?
  3. Is there any specific requirements for the flight controller?