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mit-aera / FlightGoggles

A framework for photorealistic hardware-in-the-loop agile flight simulation using Unity3D and ROS. Developed by MIT AERA group.
http://flightgoggles.mit.edu
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PID controller rate #130

Closed juanmed closed 4 years ago

juanmed commented 5 years ago

Hello,

I have two questions. I understand the simulator provides a PID controller that receives angular velocity commands. I am not sure about the internals but, if internally the dynamics of the drone are simulated, I guess the PID outputs the torque vector, and finally the rotor speeds that will achieve the desired angular velocity command. Is this true? Second question is, what is the rate at which the PID controller works?

Thanks,

Juan

eatal commented 4 years ago

Hi @juanmed, You can find a description of the PID controller in our paper at https://arxiv.org/pdf/1905.11377.pdf. The final outputs of the PID controller are indeed the commanded motor speeds. The controller is executed at the same rate as the vehicle dynamics simulation, i.e. at 960 Hz in simulation time when using the default settings.