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mzahana / px4_fast_planner

Integration of Fast-Planner with PX4 autopilot for multi-rotor fast navigation with obstacle avoidance
MIT License
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The px4 shakes left and right when taking off. #24

Open one-DS opened 3 years ago

one-DS commented 3 years ago

When applied to the physical aircraft, the UAV shakes left and right when taking off. How to adjust it? We look forward to your reply. Thank you!

mzahana commented 3 years ago

@one-DS you may need to tune the geometric controller.

one-DS commented 2 years ago

@mzahana Hello, thank you for taking the time to reply to me. geometric_ The parameter range of the controller is 0.1 ~ 20. By adjusting the parameters, the UAV does not shake as much as before, but the parameters have been adjusted to the end, and the situation is still not ideal. Therefore, I want to ask you, is this method feasible by modifying the controller program to expand the parameter range and make a larger range adjustable? thank you!

mzahana commented 2 years ago

@one-DS you may change them in the launch file, here

one-DS commented 2 years ago

@mzahana Thank you! The problem has been solved,but I want to know how these parameters control the attitude of UAV, like kpos and kvel. I don't know what these two mean at present.

daishuaibi commented 2 years ago

@one-DS Hello, I have met the same problem, may I ask how to set parameters? I have tried many times but it failed

Goldsaints commented 2 years ago

Hi, I reinstalled the mavros_controllers. I used this version, you can look this photo. I hope it works for you.  https://github.com/Jaeyoung-Lim/mavros_controllers/releases

------------------ 原始邮件 ------------------ 发件人: "mzahana/px4_fast_planner" @.>; 发送时间: 2022年1月7日(星期五) 中午11:14 @.>; @.**@.>; 主题: Re: [mzahana/px4_fast_planner] The px4 shakes left and right when taking off. (#24)

@one-DS Hello, I have met the same problem, may I ask how to set parameters? I have tried many times but it failed

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daishuaibi commented 2 years ago

@Goldsaints Thank you very much for your reply. I would like to ask if this mavros_controllers is to replace the original file and run .setup.sh to reinstall,I tried but it didn't work，Is there something wrong with my procedure？

ZhangXiaolei314 commented 2 years ago

@Goldsaints Thank you very much for your reply. I would like to ask if this mavros_controllers is to replace the original file and run .setup.sh to reinstall,I tried but it didn't work，Is there something wrong with my procedure？

you should change the file px4_fast_planner/launch/geometric_controller.launch like this image these three lines are necessary image

Dieptranivsr commented 2 years ago

@ZhangXiaolei314 thank you, I had really wasted a long time