[Control] enable to compensate gravity term for altitude control - Githubissues

jsk-ros-pkg / jsk_aerial_robot

The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)

http://www.jsk.t.u-tokyo.ac.jp/index-j.html

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[Control] enable to compensate gravity term for altitude control #584

Open tongtybj opened 11 months ago

tongtybj commented 11 months ago

What is this

Add a flag to automatically compensate the gravity term for z axis control

Details

Currently system use the I term to compensate the gravity term, which results in a slow start. We introduce a new flag to automatically compensate this term.

TODO

[ ] Current takeoff procedure cause the overshooting in z axis if we enable the gravity compensation. This is because the increase of I control term during takeoff procedure. We may also need to plan a trajectory for takeoff procedure.