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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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Rotor Speed Control #132

Closed juanmed closed 4 years ago

juanmed commented 5 years ago

Hello,

Me and my colleagues have been enjoying flightgoggles. I was wondering if you have any plans to allow a lower-level of control of the drone by commanding rotor speeds. In my humble opinion, for control research, this would make the simulator more attractive and realistic. That being said, I would like formally request such a feature. Thanks!

eatal commented 4 years ago

Hi @juanmed, Glad to hear you are enjoying FlightGoggles! In the latest version it is indeed possible to directly command the motor speeds by setting the parameter use_ratethrust_controller to false and publishing the commands to the topic /uav/input/motorspeed.