Closed jc-bao closed 1 year ago
Cannot control the yaw angle to zero. (green line)
Currently, the lower-level attitude rate controller is running L1 adaptive control.
The yaw angle controller is:
rpy_drones = geom.quat2rpy(self.quat_drones) yaw_drones = rpy_drones[..., [2]] vy_target = - yaw_drones * 10.0
(can not use tilt-prioritized controller since no target angle in other dimensions. )
The attitude rate in yaw is relatively more precise than other dimensions.
This would bypass the yaw control problem.
Learned policy: :heavy_check_mark:
Problem
Cannot control the yaw angle to zero. (green line)
Currently, the lower-level attitude rate controller is running L1 adaptive control.
The yaw angle controller is:
(can not use tilt-prioritized controller since no target angle in other dimensions. )